#include <devsteer.h>

Inheritance diagram for devsteer:

Public Member Functions
int	check_status (void)
int	Close ()
int	Configure ()
int32_t	degrees2ticks (float degrees)
	devsteer (int32_t center=0)
int	get_angle (float &degrees)
int	Open ()
void	publish_diag (const ros::Publisher &diag_pub)
int	set_initial_angle (float position)
int	steering_absolute (float position)
int	steering_relative (float position)
float	ticks2degrees (int32_t ticks)
	~devsteer ()
Private Member Functions
int	configure_steering (void)
int	encoder_goto (float degrees)
int	get_encoder (int32_t &iticks)
int	get_status_word (uint16_t &status)
int64_t	GetTime ()
int	send_cmd (const char *string)
int	servo_cmd (const char *string)
void	servo_write_only (const char *string)
int	write_register (int reg, int32_t val)
Private Attributes
bool	center_on_exit_
int32_t	center_ticks_
art_msgs::SteeringDiagnostics	diag_msg_
std::string	port_
float	req_angle_
bool	simulate_moving_errors_
float	starting_angle_
int32_t	starting_ticks_
double	steering_rate_
bool	training_

Detailed Description

Definition at line 71 of file devsteer.h.

Constructor & Destructor Documentation

devsteer::devsteer ( int32_t center = 0 )

Definition at line 34 of file devsteer.cc.

devsteer::~devsteer ( ) [inline]

Definition at line 76 of file devsteer.h.

Member Function Documentation

int devsteer::check_status ( void )

check device status

Returns:: 0 if device seems to be working correctly

Todo:: make a header to define the status bits

Definition at line 110 of file devsteer.cc.

int devsteer::Close ( void ) [virtual]

Reimplemented from Servo.

Definition at line 65 of file devsteer.cc.

int devsteer::Configure ( )

Definition at line 72 of file devsteer.cc.

int devsteer::configure_steering ( void ) [private]

Definition at line 396 of file devsteer.cc.

int32_t devsteer::degrees2ticks ( float degrees ) [inline]

Definition at line 91 of file devsteer.h.

int devsteer::encoder_goto ( float degrees ) [private]

Definition at line 470 of file devsteer.cc.

int devsteer::get_angle ( float & degrees )

get steering angle

When running without actual steering controller, simulate the wheel motion.

Precondition:: not using the real wheel position sensor; center_ticks_ set correctly

Parameters:

degrees current steering angle, if I/O successful

Returns:: 0 if successful, errno value otherwise

Postcondition:: sets diag_msg_.encoder value (if successful)

Definition at line 144 of file devsteer.cc.

int devsteer::get_encoder ( int32_t & iticks ) [private]

get steering encoder value

Parameters:

iticks set to encoder position, if I/O successful

Returns:: 0 if successful, errno value otherwise

Postcondition:: diag_msg_.encoder updated, if successful and using real device

Definition at line 197 of file devsteer.cc.

int devsteer::get_status_word ( uint16_t & status ) [private]

Definition at line 226 of file devsteer.cc.

int64_t devsteer::GetTime ( ) [private]

Definition at line 28 of file devsteer.cc.

int devsteer::Open ( )

Definition at line 39 of file devsteer.cc.

void devsteer::publish_diag ( const ros::Publisher & diag_pub )

publish current diagnostic information

Parameters:

diag_pub ROS publish object for SteeringDiagnostics message.

Precondition:: diag_msg_ already updated for this cycle

Definition at line 266 of file devsteer.cc.

int devsteer::send_cmd ( const char * string ) [private]

Definition at line 494 of file devsteer.cc.

int devsteer::servo_cmd ( const char * string ) [private]

Definition at line 602 of file devsteer.cc.

void devsteer::servo_write_only ( const char * string ) [private]

Write a command to the Quicksilver, no response expected.

Returns:: no indication of whether it worked.

Definition at line 621 of file devsteer.cc.

int devsteer::set_initial_angle ( float position )

set the initial steering wheel angle

Precondition:: the controller is *not* in Profile Move mode, but data registers are set to the basic movement parameters.

Postcondition:: (if successful): The controller is in Profile Move Continuous mode. The position is set to reflect the initial wheel angle, and the soft limits are set in registers 39 and 40.