Public Types | Public Member Functions | Public Attributes | Private Member Functions | Private Attributes
ElmoCtrl Class Reference

#include <ElmoCtrl.h>

List of all members.

Public Types

enum  { POS_CTRL, VEL_CTRL }

Public Member Functions

 ElmoCtrl ()
int evalCanBuffer ()
CANPeakSysUSBGetCanCtrl ()
int getGearPosVelRadS (double *pdAngleGearRad, double *pdVelGearRadS)
double getJointVelocity ()
int GetMotionCtrlType ()
bool Home ()
bool Init (ElmoCtrlParams *params, bool home=true)
bool isError ()
double MoveJointSpace (double PosRad)
bool RecoverAfterEmergencyStop ()
int setGearPosVelRadS (double dPosRad, double dVelRadS)
void setMaxVelocity (float radpersec)
bool SetMotionCtrlType (int type)
bool Stop ()
 ~ElmoCtrl ()

Public Attributes

CanDriveHarmonicam_Joint
 joint mutexes
enum ElmoCtrl:: { ... }  MOTION_CTRL_TYPE

Private Member Functions

bool sendNetStartCanOpen (CanItf *canCtrl)

Private Attributes

CanOpenAddress m_CanAddress
int m_CanBaseAddress
CANPeakSysUSBm_CanCtrl
CanMsg m_CanMsgRec
int m_EncIncrPerRevMot
double m_GearRatio
int m_HomingDigIn
int m_HomingDir
double m_JointOffset
DriveParamm_JointParams
double m_LowerLimit
double m_MaxVel
int m_MotionCtrlType
int m_MotorDirection
pthread_mutex_t m_Mutex
 joint mutexes
ElmoCtrlParamsm_Params
 joint velocity mutexes
double m_UpperLimit

Detailed Description

Definition at line 171 of file ElmoCtrl.h.


Member Enumeration Documentation

anonymous enum
Enumerator:
POS_CTRL 
VEL_CTRL 

Definition at line 225 of file ElmoCtrl.h.


Constructor & Destructor Documentation

Definition at line 78 of file ElmoCtrl.cpp.

Definition at line 88 of file ElmoCtrl.cpp.


Member Function Documentation

Triggers evaluation of the can-buffer.

Definition at line 128 of file ElmoCtrl.cpp.

Definition at line 231 of file ElmoCtrl.h.

int ElmoCtrl::getGearPosVelRadS ( double *  pdAngleGearRad,
double *  pdVelGearRadS 
)

Gets the position and velocity.

Parameters:
pdAngleGearRadjoint-position in radian
pdVelGearRadSjoint-velocity in radian per second

Definition at line 421 of file ElmoCtrl.cpp.

Definition at line 411 of file ElmoCtrl.cpp.

bool ElmoCtrl::Home ( )

Definition at line 98 of file ElmoCtrl.cpp.

bool ElmoCtrl::Init ( ElmoCtrlParams params,
bool  home = true 
)

Definition at line 164 of file ElmoCtrl.cpp.

Definition at line 416 of file ElmoCtrl.cpp.

double ElmoCtrl::MoveJointSpace ( double  PosRad)

Definition at line 148 of file ElmoCtrl.cpp.

bool ElmoCtrl::sendNetStartCanOpen ( CanItf canCtrl) [private]

Definition at line 62 of file ElmoCtrl.cpp.

int ElmoCtrl::setGearPosVelRadS ( double  dPosRad,
double  dVelRadS 
)

Sets required position and veolocity. Use this function only in position mode.

Definition at line 436 of file ElmoCtrl.cpp.

void ElmoCtrl::setMaxVelocity ( float  radpersec) [inline]

Definition at line 191 of file ElmoCtrl.h.

bool ElmoCtrl::SetMotionCtrlType ( int  type)

Definition at line 386 of file ElmoCtrl.cpp.

bool ElmoCtrl::Stop ( )

Definition at line 460 of file ElmoCtrl.cpp.


Member Data Documentation

Definition at line 247 of file ElmoCtrl.h.

Definition at line 246 of file ElmoCtrl.h.

Definition at line 249 of file ElmoCtrl.h.

Definition at line 276 of file ElmoCtrl.h.

Definition at line 255 of file ElmoCtrl.h.

double ElmoCtrl::m_GearRatio [private]

Definition at line 257 of file ElmoCtrl.h.

int ElmoCtrl::m_HomingDigIn [private]

Definition at line 254 of file ElmoCtrl.h.

int ElmoCtrl::m_HomingDir [private]

Definition at line 253 of file ElmoCtrl.h.

joint mutexes

Definition at line 236 of file ElmoCtrl.h.

double ElmoCtrl::m_JointOffset [private]

Definition at line 261 of file ElmoCtrl.h.

Definition at line 244 of file ElmoCtrl.h.

double ElmoCtrl::m_LowerLimit [private]

Definition at line 260 of file ElmoCtrl.h.

double ElmoCtrl::m_MaxVel [private]

Definition at line 252 of file ElmoCtrl.h.

Definition at line 242 of file ElmoCtrl.h.

Definition at line 256 of file ElmoCtrl.h.

pthread_mutex_t ElmoCtrl::m_Mutex [private]

joint mutexes

Definition at line 268 of file ElmoCtrl.h.

joint velocity mutexes

Thread IDs for PowerCube connection threads Arguments for Powercube connection Threads

Definition at line 275 of file ElmoCtrl.h.

double ElmoCtrl::m_UpperLimit [private]

Definition at line 259 of file ElmoCtrl.h.


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


cob_head_axis
Author(s): Ulrich Reiser
autogenerated on Sun Oct 5 2014 23:07:23