Class Hardware

• Defined in File hardware.hpp

Class Documentation

class Hardware

Public Functions

explicit Hardware(const std::string device_name)

~Hardware()

bool load_config_file(const std::string &config_yaml)

bool connect(const int baudrate = 3000000)

void disconnect()

bool torque_on(const std::string &group_name)

bool torque_off(const std::string &group_name)

bool sync_read(const std::string &group_name)

bool sync_write(const std::string &group_name)

bool start_thread(const std::vector<std::string> &group_names, const std::chrono::milliseconds &update_cycle_ms)

bool stop_thread()

bool get_position(const uint8_t id, double &position)

bool get_position(const std::string &joint_name, double &position)

bool get_positions(const std::string &group_name, std::vector<double> &positions)

bool get_velocity(const uint8_t id, double &velocity)

bool get_velocity(const std::string &joint_name, double &velocity)

bool get_velocities(const std::string &group_name, std::vector<double> &velocities)

bool get_current(const uint8_t id, double &current)

bool get_current(const std::string &joint_name, double &current)

bool get_currents(const std::string &group_name, std::vector<double> &currents)

bool get_voltage(const uint8_t id, double &voltage)

bool get_voltage(const std::string &joint_name, double &voltage)

bool get_voltages(const std::string &group_name, std::vector<double> &voltages)

bool get_temperature(const uint8_t id, int8_t &temperature)

bool get_temperature(const std::string &joint_name, int8_t &temperature)

bool get_temperatures(const std::string &group_name, std::vector<int8_t> &temperatures)

bool get_max_position_limit(const uint8_t &id, double &max_position_limit)

bool get_min_position_limit(const uint8_t &id, double &min_position_limit)

bool set_position(const uint8_t id, const double position)

bool set_position(const std::string &joint_name, const double position)

bool set_positions(const std::string &group_name, std::vector<double> &positions)

bool set_velocity(const uint8_t id, const double velocity)

bool set_velocity(const std::string &joint_name, const double velocity)

bool set_velocities(const std::string &group_name, std::vector<double> &velocities)

bool set_current(const uint8_t id, const double current)

bool set_current(const std::string &joint_name, const double current)

bool set_currents(const std::string &group_name, std::vector<double> &currents)

bool write_max_acceleration_to_group(const std::string &group_name, const double acceleration_rpss)

bool write_max_velocity_to_group(const std::string &group_name, const double velocity_rps)

bool write_position_pid_gain(const uint8_t id, const uint16_t p, const uint16_t i, const uint16_t d)

bool write_position_pid_gain(const std::string &joint_name, const uint16_t p, const uint16_t i, const uint16_t d)

bool write_position_pid_gain_to_group(const std::string &group_name, const uint16_t p, const uint16_t i, const uint16_t d)

bool write_velocity_pi_gain(const uint8_t id, const uint16_t p, const uint16_t i)

bool write_velocity_pi_gain(const std::string &joint_name, const uint16_t p, const uint16_t i)

bool write_velocity_pi_gain_to_group(const std::string &group_name, const uint16_t p, const uint16_t i)

Protected Attributes

std::shared_ptr<hardware_communicator::Communicator> comm_