#include <stdio.h>#include <stdlib.h>#include <sys/types.h>#include <sys/socket.h>#include <sys/ioctl.h>#include <net/if.h>#include <linux/can.h>#include <linux/can/raw.h>#include <string>#include <sstream>#include <string.h>#include <boost/thread.hpp>#include <exception>#include <vector>#include <time.h>#include "movement_definitions.h"
Go to the source code of this file.
Classes | |
| class | ArmException |
| struct | armState |
| Stores ARM state. More... | |
| class | ManusArm |
Singleton class representing the ARM.
| |
Defines | |
| #define | CARTESIAN_FOOT 13854.54 |
| #define | CARTESIAN_SLOP 300 |
| #define | CBOX_0_INIT 0x370 |
| #define | CBOX_1_CARTESIAN 0x371 |
| #define | CBOX_4_JOINT 0x374 |
| #define | CBOX_5_UNFOLD 0x375 |
| #define | CBOX_6_FOLD 0x376 |
| #define | MSG_ABS_ENCODER 4 |
| #define | MSG_ABS_MEASURE 3 |
| #define | MSG_ARM_FOLDED_STRETCHED 2 |
| #define | MSG_BLOCKED_MOTOR 3 |
| #define | MSG_FOLDED 0 |
| #define | MSG_GRIPPER_INIT 2 |
| #define | MSG_GRIPPER_STUCK 0 |
| #define | MSG_IO_80C552 1 |
| #define | MSG_MAX_ROT 4 |
| #define | MSG_MOVE_WITHOUT_INPUT 15 |
| #define | MSG_UNFOLDED 1 |
| #define | MSG_WRONG_AREA 1 |
| #define | STAT_ERROR 3 |
| #define | STAT_GENERAL 2 |
| #define | STAT_NONE 0 |
| #define | STAT_WARNING 1 |
Functions | |
| int | sign (int n) |
| float | sign (float n) |
Variables | |
| const int | SPEED_LIMITS [][5] |
Define Documentation
| #define CARTESIAN_FOOT 13854.54 |
Definition at line 63 of file ManusArm.hpp.
| #define CARTESIAN_SLOP 300 |
Definition at line 59 of file ManusArm.hpp.
| #define CBOX_0_INIT 0x370 |
Definition at line 50 of file ManusArm.hpp.
| #define CBOX_1_CARTESIAN 0x371 |
Definition at line 51 of file ManusArm.hpp.
| #define CBOX_4_JOINT 0x374 |
Definition at line 52 of file ManusArm.hpp.
| #define CBOX_5_UNFOLD 0x375 |
Definition at line 53 of file ManusArm.hpp.
| #define CBOX_6_FOLD 0x376 |
Definition at line 54 of file ManusArm.hpp.
| #define MSG_ABS_ENCODER 4 |
Definition at line 47 of file ManusArm.hpp.
| #define MSG_ABS_MEASURE 3 |
Definition at line 43 of file ManusArm.hpp.
| #define MSG_ARM_FOLDED_STRETCHED 2 |
Definition at line 35 of file ManusArm.hpp.
| #define MSG_BLOCKED_MOTOR 3 |
Definition at line 36 of file ManusArm.hpp.
| #define MSG_FOLDED 0 |
Definition at line 40 of file ManusArm.hpp.
| #define MSG_GRIPPER_INIT 2 |
Definition at line 42 of file ManusArm.hpp.
| #define MSG_GRIPPER_STUCK 0 |
Definition at line 33 of file ManusArm.hpp.
| #define MSG_IO_80C552 1 |
Definition at line 46 of file ManusArm.hpp.
| #define MSG_MAX_ROT 4 |
Definition at line 37 of file ManusArm.hpp.
| #define MSG_MOVE_WITHOUT_INPUT 15 |
Definition at line 48 of file ManusArm.hpp.
| #define MSG_UNFOLDED 1 |
Definition at line 41 of file ManusArm.hpp.
| #define MSG_WRONG_AREA 1 |
Definition at line 34 of file ManusArm.hpp.
| #define STAT_ERROR 3 |
Definition at line 45 of file ManusArm.hpp.
| #define STAT_GENERAL 2 |
Definition at line 39 of file ManusArm.hpp.
| #define STAT_NONE 0 |
Definition at line 30 of file ManusArm.hpp.
| #define STAT_WARNING 1 |
Definition at line 32 of file ManusArm.hpp.
Function Documentation
| int sign | ( | int | n | ) |
Definition at line 74 of file ManusArm.hpp.
| float sign | ( | float | n | ) |
Definition at line 79 of file ManusArm.hpp.
Variable Documentation
| const int SPEED_LIMITS[][5] |
{ { 3, 10, 17, 23, 30 },
{ 10, 30, 50, 70, 90 },
{ 10, 30, 50, 70, 90 },
{ 1, 3, 5, 7, 9 },
{ 1, 3, 5, 7, 9 },
{ 1, 3, 5, 7, 9 },
{ 1, 4, 7, 10, 14 } }
Definition at line 66 of file ManusArm.hpp.