#include <YouBotJointParameterReadOnly.hpp>

Inheritance diagram for youbot::ErrorAndStatus:

Public Member Functions
	ErrorAndStatus ()

void	getParameter (unsigned int &parameter) const

void	toString (std::string &value)

virtual	~ErrorAndStatus ()

Public Member Functions inherited from youbot::YouBotJointParameterReadOnly
virtual	~YouBotJointParameterReadOnly ()

Private Member Functions
std::string	getName () const

ParameterType	getType () const

void	getYouBotMailboxMsg (YouBotSlaveMailboxMsg &message, TMCLCommandNumber msgType, const YouBotJointStorage &storage) const

void	parseYouBotErrorFlags () const

void	setYouBotMailboxMsg (const YouBotSlaveMailboxMsg &message, const YouBotJointStorage &storage)

Private Attributes
std::string	name

ParameterType	parameterType

unsigned int	value

Friends
class	YouBotJoint

Additional Inherited Members
Protected Member Functions inherited from youbot::YouBotJointParameterReadOnly
	YouBotJointParameterReadOnly ()

Protected Attributes inherited from youbot::YouBotJointParameterReadOnly
std::string	name

ParameterType	parameterType

Detailed Description

Error and Status flags of the joint. Bit 0: Overcurrent flag. This flag is set if overcurrent limit is exceeded.
Bit 1: Undervoltage flag. This flag is set if supply voltage to low for motor operation.
Bit 2: Overvoltage flag. This flag is set if the motor becomes switched off due to overvoltage.
Bit 3: Overtemperature flag. This flag is set if overtemperature limit is exceeded.
Bit 4: Motor halted flag. This flag is set if motor has been switched off.
Bit 5: Hall error flag. This flag is set upon a hall error.
Bit 6: Encoder error flag. This flag is set upon an encoder error.
Bit 7: Winding error flag. [currently not used]
Bit 8: Cycle time violation. [currently not used]
Bit 9: Initialization error of sine commutation. This flag is set if initialization is failed.
Bit 10: Position mode flag. This flag is set when the module is in positioning mode.
Bit 11: Position end flag. This flag becomes set if the motor has been stopped at the end position.

Definition at line 143 of file YouBotJointParameterReadOnly.hpp.

Constructor & Destructor Documentation

youbot::ErrorAndStatus::ErrorAndStatus ( )

Definition at line 109 of file YouBotJointParameterReadOnly.cpp.

youbot::ErrorAndStatus::~ErrorAndStatus ( )

virtual

Definition at line 116 of file YouBotJointParameterReadOnly.cpp.

Member Function Documentation

std::string youbot::ErrorAndStatus::getName ( ) const

inlineprivatevirtual

Implements youbot::YouBotJointParameterReadOnly.

Definition at line 160 of file YouBotJointParameterReadOnly.hpp.

void youbot::ErrorAndStatus::getParameter ( unsigned int & parameter ) const

Definition at line 121 of file YouBotJointParameterReadOnly.cpp.

ParameterType youbot::ErrorAndStatus::getType ( ) const

inlineprivatevirtual

Implements youbot::YouBotJointParameterReadOnly.

Definition at line 162 of file YouBotJointParameterReadOnly.hpp.

void youbot::ErrorAndStatus::getYouBotMailboxMsg	(	YouBotSlaveMailboxMsg &	message,
		TMCLCommandNumber	msgType,
		const YouBotJointStorage &	storage
	)		const