Public Member Functions | Public Attributes | Protected Member Functions | Private Member Functions | Private Attributes | List of all members
youbot::YouBotJoint Class Reference

#include <YouBotJoint.hpp>

Inheritance diagram for youbot::YouBotJoint:
Inheritance graph
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Public Member Functions

virtual void getConfigurationParameter (YouBotJointParameterReadOnly &parameter)
 
virtual void getConfigurationParameter (YouBotJointParameter &parameter)
 
virtual void getConfigurationParameter (JointName &parameter)
 
virtual void getConfigurationParameter (GearRatio &parameter)
 
virtual void getConfigurationParameter (EncoderTicksPerRound &parameter)
 
virtual void getConfigurationParameter (InverseMovementDirection &parameter)
 
virtual void getConfigurationParameter (JointLimits &parameter)
 
virtual void getConfigurationParameter (JointLimitsRadian &parameter)
 
virtual void getConfigurationParameter (FirmwareVersion &parameter)
 
virtual void getConfigurationParameter (YouBotSlaveMailboxMsg &parameter)
 this method should be only used if you know what you are doing More...
 
virtual void getConfigurationParameter (TorqueConstant &parameter)
 
virtual void getData (JointSensedAngle &data)
 
virtual void getData (JointSensedVelocity &data)
 
virtual void getData (JointSensedRoundsPerMinute &data)
 
virtual void getData (JointSensedCurrent &data)
 
virtual void getData (JointSensedEncoderTicks &data)
 
virtual void getData (YouBotSlaveMsg &data)
 
virtual void getData (JointSensedTorque &data)
 
virtual void getData (JointAngleSetpoint &data)
 
virtual void getData (JointVelocitySetpoint &data)
 
virtual void getData (JointCurrentSetpoint &data)
 
virtual void getData (JointRampGeneratorVelocity &data)
 
unsigned int getJointNumber ()
 
virtual void getStatus (std::vector< std::string > &statusMessages)
 Returns the status messages for the motor controller. More...
 
virtual void getStatus (unsigned int &statusFlags)
 
void getUserVariable (const unsigned int index, int &data)
 
void noMoreAction ()
 
void restoreConfigurationParameter (YouBotJointParameter &parameter)
 Restores the joint parameter from the EEPROM. More...
 
virtual void setConfigurationParameter (const YouBotJointParameter &parameter)
 
virtual void setConfigurationParameter (const JointName &parameter)
 
virtual void setConfigurationParameter (const GearRatio &parameter)
 
virtual void setConfigurationParameter (const EncoderTicksPerRound &parameter)
 
virtual void setConfigurationParameter (const CalibrateJoint &parameter)
 
virtual void setConfigurationParameter (const InverseMovementDirection &parameter)
 
virtual void setConfigurationParameter (const JointLimits &parameter)
 
virtual void setConfigurationParameter (const InitializeJoint &parameter)
 commutation method for firmware 1.48 and below More...
 
virtual void setConfigurationParameter (const YouBotSlaveMailboxMsg &parameter)
 this method should be only used if you know what you are doing More...
 
virtual void setConfigurationParameter (const TorqueConstant &parameter)
 
virtual void setData (const JointAngleSetpoint &data)
 
virtual void setData (const JointEncoderSetpoint &data)
 
virtual void setData (const JointVelocitySetpoint &data)
 
virtual void setData (const JointRoundsPerMinuteSetpoint &data)
 
virtual void setData (const JointCurrentSetpoint &data)
 
virtual void setData (const SlaveMessageOutput &data)
 
virtual void setData (const JointTorqueSetpoint &data)
 
void setEncoderToZero ()
 set the encoder values of the joint to zero. This postion will be the new reference. More...
 
void setUserVariable (const unsigned int index, const int data)
 
void stopJoint ()
 
void storeConfigurationParameterPermanent (const YouBotJointParameter &parameter)
 
 YouBotJoint (const unsigned int jointNo, const std::string &configFilePath="../config/")
 
 ~YouBotJoint ()
 

Public Attributes

JointTrajectoryController trajectoryController
 

Protected Member Functions

virtual void getConfigurationParameter (JointParameter &parameter)
 
virtual void getData (JointData &data)
 
virtual void setConfigurationParameter (const JointParameter &parameter)
 
virtual void setData (const JointDataSetpoint &data)
 

Private Member Functions

YouBotJoint & operator= (const YouBotJoint &source)
 
void parseMailboxStatusFlags (const YouBotSlaveMailboxMsg &mailboxMsg)
 
void parseYouBotErrorFlags (const YouBotSlaveMsg &messageBuffer)
 
bool retrieveValueFromMotorContoller (YouBotSlaveMailboxMsg &message)
 
bool setValueToMotorContoller (const YouBotSlaveMailboxMsg &mailboxMsg)
 
 YouBotJoint (const YouBotJoint &source)
 

Private Attributes

EthercatMasterInterface * ethercatMaster
 
quantity< plane_angle > lastPosition
 
quantity< si::angular_velocity > lastVelocity
 
boost::scoped_ptr< JointLimitMonitor > limitMonitor
 
unsigned int mailboxMsgRetries
 
YouBotSlaveMsg messageBuffer
 
bool positionReferenceToZero
 
YouBotJointStorage storage
 
unsigned int timeTillNextMailboxUpdate
 

Detailed Description

youBot joint for the base and the manipulator. Every motor, encoder, transmition combination of the youBot base or manipulator is a YouBotJoint

Definition at line 77 of file YouBotJoint.hpp.

Constructor & Destructor Documentation

youbot::YouBotJoint::YouBotJoint ( const unsigned int  jointNo,
const std::string &  configFilePath = "../config/" 
)

Definition at line 55 of file YouBotJoint.cpp.

youbot::YouBotJoint::~YouBotJoint ( )

Definition at line 72 of file YouBotJoint.cpp.

youbot::YouBotJoint::YouBotJoint ( const YouBotJoint &  source)
private

Member Function Documentation

void youbot::YouBotJoint::getConfigurationParameter ( JointParameter &  parameter)
protectedvirtual

Implements youbot::Joint.

Definition at line 83 of file YouBotJoint.cpp.

void youbot::YouBotJoint::getConfigurationParameter ( YouBotJointParameterReadOnly &  parameter)
virtual

Definition at line 89 of file YouBotJoint.cpp.

void youbot::YouBotJoint::getConfigurationParameter ( YouBotJointParameter &  parameter)
virtual

Definition at line 109 of file YouBotJoint.cpp.

void youbot::YouBotJoint::getConfigurationParameter ( JointName &  parameter)
virtual

Definition at line 145 of file YouBotJoint.cpp.

void youbot::YouBotJoint::getConfigurationParameter ( GearRatio &  parameter)
virtual

Definition at line 157 of file YouBotJoint.cpp.

void youbot::YouBotJoint::getConfigurationParameter ( EncoderTicksPerRound &  parameter)
virtual

Definition at line 172 of file YouBotJoint.cpp.

void youbot::YouBotJoint::getConfigurationParameter ( InverseMovementDirection &  parameter)
virtual

Definition at line 251 of file YouBotJoint.cpp.

void youbot::YouBotJoint::getConfigurationParameter ( JointLimits &  parameter)
virtual

Definition at line 281 of file YouBotJoint.cpp.

void youbot::YouBotJoint::getConfigurationParameter ( JointLimitsRadian &  parameter)
virtual

Definition at line 287 of file YouBotJoint.cpp.

void youbot::YouBotJoint::getConfigurationParameter ( FirmwareVersion &  parameter)
virtual

Definition at line 307 of file YouBotJoint.cpp.

void youbot::YouBotJoint::getConfigurationParameter ( YouBotSlaveMailboxMsg &  parameter)
virtual

this method should be only used if you know what you are doing

Definition at line 369 of file YouBotJoint.cpp.

void youbot::YouBotJoint::getConfigurationParameter ( TorqueConstant &  parameter)
virtual

Definition at line 378 of file YouBotJoint.cpp.

void youbot::YouBotJoint::getData ( JointData &  data)
protectedvirtual

Implements youbot::Joint.

Definition at line 435 of file YouBotJoint.cpp.

void youbot::YouBotJoint::getData ( JointSensedAngle &  data)
virtual

gets the position or angle of one joint which have been calculated from the actual encoder value

Parameters
datareturns the angle by reference

Definition at line 506 of file YouBotJoint.cpp.

void youbot::YouBotJoint::getData ( JointSensedVelocity &  data)
virtual

gets the velocity of one joint

Parameters
datareturns the velocity by reference

Definition at line 561 of file YouBotJoint.cpp.

void youbot::YouBotJoint::getData ( JointSensedRoundsPerMinute &  data)
virtual

gets the velocity in round per minute of one joint

Parameters
datareturns the velocity by reference

Definition at line 586 of file YouBotJoint.cpp.

void youbot::YouBotJoint::getData ( JointSensedCurrent &  data)
virtual

gets the motor current of one joint which have been measured by a hal sensor

Parameters
datareturns the actual motor current by reference

Definition at line 629 of file YouBotJoint.cpp.

void youbot::YouBotJoint::getData ( JointSensedEncoderTicks &  data)
virtual

gets the encoder ticks of one joint

Parameters
datareturns the ticks by reference

Definition at line 672 of file YouBotJoint.cpp.

void youbot::YouBotJoint::getData ( YouBotSlaveMsg &  data)
virtual

gets the input and ouput part of a EtherCAT slave message this methode should be only used if you know what you are doing

Parameters
datareturns the sensor values by reference

Definition at line 714 of file YouBotJoint.cpp.

void youbot::YouBotJoint::getData ( JointSensedTorque &  data)
virtual

gets the motor torque of one joint which have been calculated from the current

Parameters
datareturns the actual motor torque by reference

Definition at line 749 of file YouBotJoint.cpp.

void youbot::YouBotJoint::getData ( JointAngleSetpoint &  data)
virtual

gets the target or setpoint position of one joint (only firmware 2.0 or higher)

Parameters
datareturns the angle by reference

Definition at line 767 of file YouBotJoint.cpp.

void youbot::YouBotJoint::getData ( JointVelocitySetpoint &  data)
virtual

gets the target or setpoint velocity of one joint (only firmware 2.0 or higher)

Parameters
datareturns the velocity by reference

Definition at line 794 of file YouBotJoint.cpp.

void youbot::YouBotJoint::getData ( JointCurrentSetpoint &  data)
virtual

gets the motor current target or setpoint of one joint (only firmware 2.0 or higher)

Parameters
datareturns the motor current by reference

Definition at line 819 of file YouBotJoint.cpp.

void youbot::YouBotJoint::getData ( JointRampGeneratorVelocity &  data)
virtual

gets the ramp generator velocity of one joint (only firmware 2.0 or higher)

Parameters
datareturns the velocity by reference

Definition at line 840 of file YouBotJoint.cpp.

unsigned int youbot::YouBotJoint::getJointNumber ( )

Definition at line 1075 of file YouBotJoint.cpp.

void youbot::YouBotJoint::getStatus ( std::vector< std::string > &  statusMessages)
virtual

Returns the status messages for the motor controller.

Definition at line 908 of file YouBotJoint.cpp.

void youbot::YouBotJoint::getStatus ( unsigned int &  statusFlags)
virtual

Returns the status messages as status flags for the motor controller. The status flag bits are assigned like this: 0: Overcurrent 1: Undervoltage 2: Overvoltage 3: Overtemperature 4: Motor halted 5: Hall error flag 6: — 7: — 8: PWM mode active 9: Velocity mode active 10: Position mode active 11: Torque mode active 12: — 13: — 14: Position end flag 15: Module initialized 16: EtherCAT timeout flag 17: I2t exceeded flag

Definition at line 1011 of file YouBotJoint.cpp.

void youbot::YouBotJoint::getUserVariable ( const unsigned int  index,
int &  data 
)

Definition at line 863 of file YouBotJoint.cpp.

void youbot::YouBotJoint::noMoreAction ( )

Definition at line 1047 of file YouBotJoint.cpp.

YouBotJoint& youbot::YouBotJoint::operator= ( const YouBotJoint &  source)
private
void youbot::YouBotJoint::parseMailboxStatusFlags ( const YouBotSlaveMailboxMsg &  mailboxMsg)
private

Definition at line 1177 of file YouBotJoint.cpp.

void youbot::YouBotJoint::parseYouBotErrorFlags ( const YouBotSlaveMsg &  messageBuffer)
private

Definition at line 1081 of file YouBotJoint.cpp.

void youbot::YouBotJoint::restoreConfigurationParameter ( YouBotJointParameter &  parameter)

Restores the joint parameter from the EEPROM.

Definition at line 411 of file YouBotJoint.cpp.

bool youbot::YouBotJoint::retrieveValueFromMotorContoller ( YouBotSlaveMailboxMsg &  message)
private

Definition at line 1213 of file YouBotJoint.cpp.

void youbot::YouBotJoint::setConfigurationParameter ( const JointParameter &  parameter)
protectedvirtual

Implements youbot::Joint.

Definition at line 77 of file YouBotJoint.cpp.

void youbot::YouBotJoint::setConfigurationParameter ( const YouBotJointParameter &  parameter)
virtual

Definition at line 128 of file YouBotJoint.cpp.

void youbot::YouBotJoint::setConfigurationParameter ( const JointName &  parameter)
virtual

Definition at line 151 of file YouBotJoint.cpp.

void youbot::YouBotJoint::setConfigurationParameter ( const GearRatio &  parameter)
virtual

Definition at line 163 of file YouBotJoint.cpp.

void youbot::YouBotJoint::setConfigurationParameter ( const EncoderTicksPerRound &  parameter)
virtual

Definition at line 178 of file YouBotJoint.cpp.

void youbot::YouBotJoint::setConfigurationParameter ( const CalibrateJoint &  parameter)
virtual

Definition at line 187 of file YouBotJoint.cpp.

void youbot::YouBotJoint::setConfigurationParameter ( const InverseMovementDirection &  parameter)
virtual

Definition at line 245 of file YouBotJoint.cpp.

void youbot::YouBotJoint::setConfigurationParameter ( const JointLimits &  parameter)
virtual

Definition at line 257 of file YouBotJoint.cpp.

void youbot::YouBotJoint::setConfigurationParameter ( const InitializeJoint &  parameter)
virtual

commutation method for firmware 1.48 and below

Definition at line 296 of file YouBotJoint.cpp.

void youbot::YouBotJoint::setConfigurationParameter ( const YouBotSlaveMailboxMsg &  parameter)
virtual

this method should be only used if you know what you are doing

Definition at line 360 of file YouBotJoint.cpp.

void youbot::YouBotJoint::setConfigurationParameter ( const TorqueConstant &  parameter)
virtual

Definition at line 384 of file YouBotJoint.cpp.

void youbot::YouBotJoint::setData ( const JointDataSetpoint &  data)
protectedvirtual

Implements youbot::Joint.

Definition at line 429 of file YouBotJoint.cpp.

void youbot::YouBotJoint::setData ( const JointAngleSetpoint &  data)
virtual

commands a position or angle to one joint

Parameters
datathe to command position

Definition at line 443 of file YouBotJoint.cpp.

void youbot::YouBotJoint::setData ( const JointEncoderSetpoint &  data)
virtual

commands a encoder value (position) to one joint

Parameters
datathe to command encoder value

Definition at line 479 of file YouBotJoint.cpp.

void youbot::YouBotJoint::setData ( const JointVelocitySetpoint &  data)
virtual

commands a velocity to one joint

Parameters
datathe to command velocity

Definition at line 533 of file YouBotJoint.cpp.

void youbot::YouBotJoint::setData ( const JointRoundsPerMinuteSetpoint &  data)
virtual

sets the velocity in round per minute to one joint

Parameters
datathe setpoint velocity

Definition at line 606 of file YouBotJoint.cpp.

void youbot::YouBotJoint::setData ( const JointCurrentSetpoint &  data)
virtual

commands a current to one joint

Parameters
datathe to command current

Definition at line 650 of file YouBotJoint.cpp.

void youbot::YouBotJoint::setData ( const SlaveMessageOutput &  data)
virtual

sets the output part of a EtherCAT slave message this methode should be only used if you know what you are doing

Parameters
dataoutput part of a EtherCAT slave message

Definition at line 695 of file YouBotJoint.cpp.

void youbot::YouBotJoint::setData ( const JointTorqueSetpoint &  data)
virtual

commands a torque to one joint

Parameters
datathe to command torque

Definition at line 730 of file YouBotJoint.cpp.

void youbot::YouBotJoint::setEncoderToZero ( )

set the encoder values of the joint to zero. This postion will be the new reference.

Definition at line 1021 of file YouBotJoint.cpp.

void youbot::YouBotJoint::setUserVariable ( const unsigned int  index,
const int  data 
)

Definition at line 886 of file YouBotJoint.cpp.

bool youbot::YouBotJoint::setValueToMotorContoller ( const YouBotSlaveMailboxMsg &  mailboxMsg)
private

Definition at line 1250 of file YouBotJoint.cpp.

void youbot::YouBotJoint::stopJoint ( )

Definition at line 1061 of file YouBotJoint.cpp.

void youbot::YouBotJoint::storeConfigurationParameterPermanent ( const YouBotJointParameter &  parameter)

stores the joint parameter permanent in the EEPROM of the motor contoller Attentions: The EEPROM has only a finite number of program-erase cycles

Definition at line 392 of file YouBotJoint.cpp.

Member Data Documentation

EthercatMasterInterface* youbot::YouBotJoint::ethercatMaster
private

Definition at line 284 of file YouBotJoint.hpp.

quantity<plane_angle> youbot::YouBotJoint::lastPosition
private

Definition at line 298 of file YouBotJoint.hpp.

quantity<si::angular_velocity> youbot::YouBotJoint::lastVelocity
private

Definition at line 296 of file YouBotJoint.hpp.

boost::scoped_ptr<JointLimitMonitor> youbot::YouBotJoint::limitMonitor
private

Definition at line 300 of file YouBotJoint.hpp.

unsigned int youbot::YouBotJoint::mailboxMsgRetries
private

Definition at line 290 of file YouBotJoint.hpp.

YouBotSlaveMsg youbot::YouBotJoint::messageBuffer
private

Definition at line 294 of file YouBotJoint.hpp.

bool youbot::YouBotJoint::positionReferenceToZero
private

Definition at line 286 of file YouBotJoint.hpp.

YouBotJointStorage youbot::YouBotJoint::storage
private

Definition at line 292 of file YouBotJoint.hpp.

unsigned int youbot::YouBotJoint::timeTillNextMailboxUpdate
private

Definition at line 288 of file YouBotJoint.hpp.

JointTrajectoryController youbot::YouBotJoint::trajectoryController

Definition at line 280 of file YouBotJoint.hpp.

The documentation for this class was generated from the following files:

youbot_driver
Author(s): Jan Paulus
autogenerated on Mon Jun 10 2019 15:46:27