Class encapsulates the motoman controller interface. It also handles higher level functions such as maintining the current motion state. This class is meant to be a Singleton, but that is not explicitly enforced. Only one instance of this object should be instantiated. More...

#include <controller.h>

Public Member Functions
	Controller ()
	Default controller.
	Controller ()
	Default controller.
void	delayTicks (int ticks)
	Stops motion job on the controller. Disables motion.
void	delayTicks (int ticks)
	Stops motion job on the controller. Disables motion.
void	disableMotion (void)
	Disables motion on the robot controller. Turns off servo power, turns on hold status.
void	disableMotion (void)
	Disables motion on the robot controller. Turns off servo power, turns on hold status.
void	enableMotion (void)
	Enables motion on the robot controller. Turns on servo power, turns off hold status.
void	enableMotion (void)
	Enables motion on the robot controller. Turns on servo power, turns off hold status.
bool	getStatus (industrial::robot_status::RobotStatus &status)
	Gets the current robot status from the controller.
bool	getStatus (industrial::robot_status::RobotStatus &status)
	Gets the current robot status from the controller.
double	getVelocityLimit ()
	Returns the velocity limit set for the controller. This is stored within the integer data table at VELOCITY_LIMIT_INDEX.
double	getVelocityLimit ()
	Returns the velocity limit set for the controller. This is stored within the integer data table at VELOCITY_LIMIT_INDEX.
bool	isJobStarted (void)
	return true if jos has been started (Based on internal class state not MotoPlus call)
bool	isJobStarted (void)
	return true if jos has been started (Based on internal class state not MotoPlus call)
bool	isMotionEnabled (void)
	return true if motion is enabled (Based on internal class state not MotoPlus call)
bool	isMotionEnabled (void)
	return true if motion is enabled (Based on internal class state not MotoPlus call)
bool	loadJob (char path, char job)
	Utility function for loading a job file from temporary DRAM (the memory supported by all controllers) WARNING: This function is limited to the DRAM root directory.
bool	loadJob (char path, char job)
	Utility function for loading a job file from temporary DRAM (the memory supported by all controllers) WARNING: This function is limited to the DRAM root directory.
void	setDigitalOut (int bit_offset, bool value)
	Utility function for setting a digital output in the Universal output data table (most IO is accessible there).
void	setDigitalOut (int bit_offset, bool value)
	Utility function for setting a digital output in the Universal output data table (most IO is accessible there).
void	startMotionJob (char *job_name)
	Starts motion job on the controller. Enables motion (Job cannot be started if motion is not enabled).
void	startMotionJob (char *job_name)
	Starts motion job on the controller. Enables motion (Job cannot be started if motion is not enabled).
void	stopMotionJob (char *job_name)
	Stops motion job on the controller. Disables motion.
void	stopMotionJob (char *job_name)
	Stops motion job on the controller. Disables motion.
void	waitDigitalIn (int bit_offset, bool wait_value)
	Utility function for waiting for a digital input in the Universal input data tabel (most IO is accessible there).
void	waitDigitalIn (int bit_offset, bool wait_value)
	Utility function for waiting for a digital input in the Universal input data tabel (most IO is accessible there).
bool	writeJob (char path, char job)
	Utility function for writing a job file in temporary DRAM (the memory supported by all controllers)
bool	writeJob (char path, char job)
	Utility function for writing a job file in temporary DRAM (the memory supported by all controllers)
	~Controller ()
	Destructor (disables motion and stops current job);.
	~Controller ()
	Destructor (disables motion and stops current job);.
Static Public Member Functions
static bool	getActJointPos (float *pos)
	Get the actual Joint Position from the robot encoders NOTE: use getCmdJointPos to get the commanded joint positions.
static bool	getActJointPos (float *pos)
	Get the actual Joint Position from the robot encoders NOTE: use getCmdJointPos to get the commanded joint positions.
static int	getCtrlGroup ()
static int	getCtrlGroup ()
static bool	getFBPulseCorrection (int ctrl_grp, FB_AXIS_CORRECTION *pulse_correction)
	Reads the pulse correction factors from the controller's config parameters, based on physical axis cross-coupling. pulsePos[ulCorrectionAxis] -= pulsePos[ulSourceAxis] * fCorrectionRatio.
static bool	getFBPulseCorrection (int ctrl_grp, FB_AXIS_CORRECTION *pulse_correction)
	Reads the pulse correction factors from the controller's config parameters, based on physical axis cross-coupling. pulsePos[ulCorrectionAxis] -= pulsePos[ulSourceAxis] * fCorrectionRatio.
static bool	getFBPulseCorrection (FB_AXIS_CORRECTION *pulse_correction)
static bool	getFBPulseCorrection (FB_AXIS_CORRECTION *pulse_correction)
static bool	getIncrMotionLimit (int ctrl_grp, float *limit)
	Reads the maximum percentage (of maxIncrPerCycle) allowed for commanded motion from the controller's config parameters.
static bool	getIncrMotionLimit (int ctrl_grp, float *limit)
	Reads the maximum percentage (of maxIncrPerCycle) allowed for commanded motion from the controller's config parameters.
static bool	getIncrMotionLimit (float *limit)
static bool	getIncrMotionLimit (float *limit)
static int	getInteger (int index)
	Read integer data from the controller integer data table. Function blocks until data is read.
static int	getInteger (int index)
	Read integer data from the controller integer data table. Function blocks until data is read.
static bool	getInterpPeriod (UINT16 *interp_period)
	Reads the number of milliseconds between each tick of the interpolation clock from the controller's config parameters.
static bool	getInterpPeriod (UINT16 *interp_period)
	Reads the number of milliseconds between each tick of the interpolation clock from the controller's config parameters.
static bool	getMaxIncrPerCycle (int ctrl_grp, int *max_incr)
	Reads the max increment each joint can move per interpolation cycle from the controller's config parameters.
static bool	getMaxIncrPerCycle (int ctrl_grp, int *max_incr)
	Reads the max increment each joint can move per interpolation cycle from the controller's config parameters.
static bool	getMaxIncrPerCycle (int *max_incr)
static bool	getMaxIncrPerCycle (int *max_incr)
static bool	getNumRobotAxes (int ctrl_grp, int *numAxes)
	Reads the number of robot axes from the controller's config parameters.
static bool	getNumRobotAxes (int ctrl_grp, int *numAxes)
	Reads the number of robot axes from the controller's config parameters.
static bool	getNumRobotAxes (int *numAxes)
static bool	getNumRobotAxes (int *numAxes)
static bool	getNumTasks (int num_normal_tasks, int num_highPrio_tasks, int *num_out_files)
	Reads the number of allowed tasks from the controller's config parameters.
static bool	getNumTasks (int num_normal_tasks, int num_highPrio_tasks, int *num_out_files)
	Reads the number of allowed tasks from the controller's config parameters.
static bool	getPulsesPerRadian (int ctrl_grp, float *pulses_per_radian)
	Reads the pulse-per-radian scaling factors from the controller's config parameters, based on the arm's gearing ratios. jntPosInRadians = jntPosInPulses * pulseToRadian.
static bool	getPulsesPerRadian (int ctrl_grp, float *pulses_per_radian)
	Reads the pulse-per-radian scaling factors from the controller's config parameters, based on the arm's gearing ratios. jntPosInRadians = jntPosInPulses * pulseToRadian.
static bool	getPulsesPerRadian (float *pulses_per_radian)
static bool	getPulsesPerRadian (float *pulses_per_radian)
static bool	initParameters (int ctrl_grp=0)
	Reads key values from parameter data-list.
static bool	initParameters (int ctrl_grp=0)
	Reads key values from parameter data-list.
static void	setCtrlGroup (int ctrl_grp)
static void	setCtrlGroup (int ctrl_grp)
static void	setInteger (int index, int value)
	Write integer data to the controller integer data table. Function blocks until data is written.
static void	setInteger (int index, int value)
	Write integer data to the controller integer data table. Function blocks until data is written.
static bool	setJointPositionVar (int index, industrial::joint_data::JointData ros_joints)
	Write position-variable data to the controller data table. Function blocks until data is written.
static bool	setJointPositionVar (int index, industrial::joint_data::JointData ros_joints)
	Write position-variable data to the controller data table. Function blocks until data is written.
Protected Member Functions
industrial::robot_status::TriState	getInMotionStatus ()
	Gets the current in motion status from the controller. The funciton queries the actual joint speeds so it should be independent of any program state (which should be more reliable).
industrial::robot_status::TriState	getInMotionStatus ()
	Gets the current in motion status from the controller. The funciton queries the actual joint speeds so it should be independent of any program state (which should be more reliable).
Static Protected Member Functions
static bool	is_bit_set (int i, param_func_t type)
static bool	is_bit_set (int i, param_func_t type)
static bool	is_valid_ctrl_grp (int ctrl_grp)
static bool	is_valid_ctrl_grp (int ctrl_grp)
static void	set_bit (int *i, param_func_t type)
static void	set_bit (int *i, param_func_t type)
Protected Attributes
MP_HOLD_SEND_DATA	hold_data
MP_STD_RSP_DATA	hold_error
MP_DELETE_JOB_SEND_DATA	job_delete_data
MP_STD_RSP_DATA	job_error
MP_START_JOB_SEND_DATA	job_start_data
bool	jobStarted
	True if job started.
bool	motionEnabled
	True if motion enabled.
MP_SERVO_POWER_SEND_DATA	servo_power_data
MP_STD_RSP_DATA	servo_power_error
Static Protected Attributes
static int	active_ctrl_grp_ = 0
static const int	MP_ERROR = -1
	Typical MP function call return on error.
static const int	MP_OK = 0
	Typical MP function call return on OK (sometimes a value greater than zero is also returned if it has some meaning, like a file descriptor.
static const int	UNIV_IN_DATA_START_ = 10
static const int	UNIV_IO_DATA_SIZE_ = 2048
static const int	UNIV_OUT_DATA_START_ = 10010
static const int	VAR_POLL_DELAY_ = 10
	Poll delay (in ticks) when querying the motoplus api.
static const int	VELOCITY_LIMIT_INDEX = 94
	Index within integer data table that holds velocity limit.

Detailed Description

Class encapsulates the motoman controller interface. It also handles higher level functions such as maintining the current motion state. This class is meant to be a Singleton, but that is not explicitly enforced. Only one instance of this object should be instantiated.

THIS CLASS IS NOT THREAD-SAFE (the methods that simply wrap motoplus calls can be considered thread safe). Some internal class state data is maintained, which is not thread safe. TODO: This class will likely be shared between threads, it should be made thread safe.

Definition at line 108 of file controller.h.

Constructor & Destructor Documentation

motoman::controller::Controller::Controller ( )

Default controller.

Definition at line 52 of file controller.cpp.

motoman::controller::Controller::~Controller ( )

Destructor (disables motion and stops current job);.

Definition at line 58 of file controller.cpp.

motoman::controller::Controller::Controller ( )

Default controller.

motoman::controller::Controller::~Controller ( )

Destructor (disables motion and stops current job);.

Member Function Documentation

void motoman::controller::Controller::delayTicks ( int ticks ) [inline]

Stops motion job on the controller. Disables motion.

Parameters:

ticks # of ticks to delay

Definition at line 252 of file controller.h.

void motoman::controller::Controller::delayTicks ( int ticks ) [inline]

Stops motion job on the controller. Disables motion.

Parameters:

ticks # of ticks to delay

Definition at line 252 of file output/controller.h.

void motoman::controller::Controller::disableMotion ( void )

Disables motion on the robot controller. Turns off servo power, turns on hold status.

Definition at line 248 of file controller.cpp.

void motoman::controller::Controller::disableMotion ( void )

Disables motion on the robot controller. Turns off servo power, turns on hold status.

void motoman::controller::Controller::enableMotion ( void )

Enables motion on the robot controller. Turns on servo power, turns off hold status.

void motoman::controller::Controller::enableMotion ( void )

Enables motion on the robot controller. Turns on servo power, turns off hold status.

Definition at line 224 of file controller.cpp.

bool motoman::controller::Controller::getActJointPos ( float * pos ) [static]

Get the actual Joint Position from the robot encoders NOTE: use getCmdJointPos to get the commanded joint positions.

Parameters:

pos	array to hold joint positions (in radians)

Returns:: true if positions retrieved successfully

Definition at line 466 of file controller.cpp.

static bool motoman::controller::Controller::getActJointPos ( float * pos ) [static]

Get the actual Joint Position from the robot encoders NOTE: use getCmdJointPos to get the commanded joint positions.

Parameters:

pos	array to hold joint positions (in radians)

Returns:: true if positions retrieved successfully

static int motoman::controller::Controller::getCtrlGroup ( ) [inline, static]

Definition at line 369 of file output/controller.h.

static int motoman::controller::Controller::getCtrlGroup ( ) [inline, static]

Definition at line 369 of file controller.h.

bool motoman::controller::Controller::getFBPulseCorrection	(	int	ctrl_grp,
		FB_AXIS_CORRECTION *	pulse_correction
	)		`[static]`

Reads the pulse correction factors from the controller's config parameters, based on physical axis cross-coupling. pulsePos[ulCorrectionAxis] -= pulsePos[ulSourceAxis] * fCorrectionRatio.

Parameters:

[in]	ctrl_grp	Robot Control Group to retrieve. Zero-based (i.e. 0 = Control Group 1)
[out]	pulse_correction	array of correction factors (length=MAX_PULSE_AXES)

Returns:: true if parameters successfully read

Definition at line 563 of file controller.cpp.

static bool motoman::controller::Controller::getFBPulseCorrection	(	int	ctrl_grp,
		FB_AXIS_CORRECTION *	pulse_correction
	)		`[static]`

Reads the pulse correction factors from the controller's config parameters, based on physical axis cross-coupling. pulsePos[ulCorrectionAxis] -= pulsePos[ulSourceAxis] * fCorrectionRatio.

Parameters:

[in]	ctrl_grp	Robot Control Group to retrieve. Zero-based (i.e. 0 = Control Group 1)
[out]	pulse_correction	array of correction factors (length=MAX_PULSE_AXES)

Returns:: true if parameters successfully read

static bool motoman::controller::Controller::getFBPulseCorrection ( FB_AXIS_CORRECTION * pulse_correction ) [inline, static]

Definition at line 322 of file controller.h.

static bool motoman::controller::Controller::getFBPulseCorrection ( FB_AXIS_CORRECTION * pulse_correction ) [inline, static]

Definition at line 322 of file output/controller.h.

static bool motoman::controller::Controller::getIncrMotionLimit	(	int	ctrl_grp,
		float *	limit
	)		`[static]`

Reads the maximum percentage (of maxIncrPerCycle) allowed for commanded motion from the controller's config parameters.

Parameters:

[in]	ctrl_grp	Robot Control Group to retrieve. Zero-based (i.e. 0 = Control Group 1)
[out]	limit	percentage of MaxIncrPerCycle allowed for commanded motion

Returns:: true if parameters successfully read

bool motoman::controller::Controller::getIncrMotionLimit	(	int	ctrl_grp,
		float *	limit
	)		`[static]`

Reads the maximum percentage (of maxIncrPerCycle) allowed for commanded motion from the controller's config parameters.

Parameters:

[in]	ctrl_grp	Robot Control Group to retrieve. Zero-based (i.e. 0 = Control Group 1)
[out]	limit	percentage of MaxIncrPerCycle allowed for commanded motion

Returns:: true if parameters successfully read

Definition at line 667 of file controller.cpp.

static bool motoman::controller::Controller::getIncrMotionLimit ( float * limit ) [inline, static]

Definition at line 367 of file output/controller.h.

static bool motoman::controller::Controller::getIncrMotionLimit ( float * limit ) [inline, static]

Definition at line 367 of file controller.h.

industrial::robot_status::TriState motoman::controller::Controller::getInMotionStatus ( ) [protected]

Gets the current in motion status from the controller. The funciton queries the actual joint speeds so it should be independent of any program state (which should be more reliable).

Returns:: motion status

Definition at line 185 of file controller.cpp.

industrial::robot_status::TriState motoman::controller::Controller::getInMotionStatus ( ) [protected]

Gets the current in motion status from the controller. The funciton queries the actual joint speeds so it should be independent of any program state (which should be more reliable).

Returns:: motion status

static int motoman::controller::Controller::getInteger ( int index ) [static]

Read integer data from the controller integer data table. Function blocks until data is read.

Parameters:

index index in data table

Returns:: integer value

int motoman::controller::Controller::getInteger ( int index ) [static]

Read integer data from the controller integer data table. Function blocks until data is read.

Parameters:

index index in data table

Returns:: integer value

Definition at line 129 of file controller.cpp.

bool motoman::controller::Controller::getInterpPeriod ( UINT16 * interp_period ) [static]

Reads the number of milliseconds between each tick of the interpolation clock from the controller's config parameters.

Parameters:

[out] interp_period period between interpolation ticks (msec)

Returns:: true if parameters successfully read

Definition at line 617 of file controller.cpp.

static bool motoman::controller::Controller::getInterpPeriod ( UINT16 * interp_period ) [static]

Reads the number of milliseconds between each tick of the interpolation clock from the controller's config parameters.

Parameters:

[out] interp_period period between interpolation ticks (msec)

Returns:: true if parameters successfully read

static bool motoman::controller::Controller::getMaxIncrPerCycle	(	int	ctrl_grp,
		int *	max_incr
	)		`[static]`

Reads the max increment each joint can move per interpolation cycle from the controller's config parameters.

Parameters:

[in]	ctrl_grp	Robot Control Group to retrieve. Zero-based (i.e. 0 = Control Group 1)
[out]	max_incr	array of maximum increment values for each joint (length=MAX_PULSE_AXES)

Returns:: true if parameters successfully read

bool motoman::controller::Controller::getMaxIncrPerCycle	(	int	ctrl_grp,
		int *	max_incr
	)		`[static]`

Reads the max increment each joint can move per interpolation cycle from the controller's config parameters.

Parameters:

[in]	ctrl_grp	Robot Control Group to retrieve. Zero-based (i.e. 0 = Control Group 1)
[out]	max_incr	array of maximum increment values for each joint (length=MAX_PULSE_AXES)

Returns:: true if parameters successfully read

Definition at line 637 of file controller.cpp.

static bool motoman::controller::Controller::getMaxIncrPerCycle ( int * max_incr ) [inline, static]

Definition at line 355 of file output/controller.h.

static bool motoman::controller::Controller::getMaxIncrPerCycle ( int * max_incr ) [inline, static]

Definition at line 355 of file controller.h.

bool motoman::controller::Controller::getNumRobotAxes	(	int	ctrl_grp,
		int *	numAxes
	)		`[static]`

Reads the number of robot axes from the controller's config parameters.

Parameters:

ctrl_grp	Robot Control Group to retrieve. Zero-based (i.e. 0 = Control Group 1)
numAxes	Number of robot axes (return)

Returns:: true if parameters successfully read

Definition at line 518 of file controller.cpp.

static bool motoman::controller::Controller::getNumRobotAxes	(	int	ctrl_grp,
		int *	numAxes
	)		`[static]`

Reads the number of robot axes from the controller's config parameters.

Parameters:

ctrl_grp	Robot Control Group to retrieve. Zero-based (i.e. 0 = Control Group 1)
numAxes	Number of robot axes (return)

Returns:: true if parameters successfully read

static bool motoman::controller::Controller::getNumRobotAxes ( int * numAxes ) [inline, static]

Definition at line 296 of file controller.h.

static bool motoman::controller::Controller::getNumRobotAxes ( int * numAxes ) [inline, static]

Definition at line 296 of file output/controller.h.

bool motoman::controller::Controller::getNumTasks	(	int *	num_normal_tasks,
		int *	num_highPrio_tasks,
		int *	num_out_files
	)		`[static]`

Reads the number of allowed tasks from the controller's config parameters.

Parameters:

[out]	num_normal_tasks	number of normal-priority tasks
[out]	num_highPrio_tasks	number of high-priority tasks
[out]	num_out_files	number of output files (??)

Returns:: true if parameters successfully read

Definition at line 591 of file controller.cpp.

static bool motoman::controller::Controller::getNumTasks	(	int *	num_normal_tasks,
		int *	num_highPrio_tasks,
		int *	num_out_files
	)		`[static]`

Reads the number of allowed tasks from the controller's config parameters.

Parameters:

[out]	num_normal_tasks	number of normal-priority tasks
[out]	num_highPrio_tasks	number of high-priority tasks
[out]	num_out_files	number of output files (??)

Returns:: true if parameters successfully read

static bool motoman::controller::Controller::getPulsesPerRadian	(	int	ctrl_grp,
		float *	pulses_per_radian
	)		`[static]`

Reads the pulse-per-radian scaling factors from the controller's config parameters, based on the arm's gearing ratios. jntPosInRadians = jntPosInPulses * pulseToRadian.

Parameters:

[in]	ctrl_grp	Robot Control Group to retrieve. Zero-based (i.e. 0 = Control Group 1)
[out]	pulse_to_radian	array of scaling factors (in Motoman order, length=MAX_PULSE_AXES)

Returns:: true if parameters successfully read

bool motoman::controller::Controller::getPulsesPerRadian	(	int	ctrl_grp,
		float *	pulses_per_radian
	)		`[static]`

Reads the pulse-per-radian scaling factors from the controller's config parameters, based on the arm's gearing ratios. jntPosInRadians = jntPosInPulses * pulseToRadian.

Parameters:

[in]	ctrl_grp	Robot Control Group to retrieve. Zero-based (i.e. 0 = Control Group 1)
[out]	pulse_to_radian	array of scaling factors (in Motoman order, length=MAX_PULSE_AXES)

Returns:: true if parameters successfully read

Definition at line 535 of file controller.cpp.

static bool motoman::controller::Controller::getPulsesPerRadian ( float * pulses_per_radian ) [inline, static]

Definition at line 309 of file controller.h.

static bool motoman::controller::Controller::getPulsesPerRadian ( float * pulses_per_radian ) [inline, static]

Definition at line 309 of file output/controller.h.

bool motoman::controller::Controller::getStatus ( industrial::robot_status::RobotStatus & status )

Gets the current robot status from the controller.

Parameters:

status robot status data structure.

Returns:: true if robot status successfully retrieved.

Definition at line 177 of file controller.cpp.

bool motoman::controller::Controller::getStatus ( industrial::robot_status::RobotStatus & status )

Gets the current robot status from the controller.

Parameters:

status robot status data structure.

Returns:: true if robot status successfully retrieved.

double motoman::controller::Controller::getVelocityLimit ( ) [inline]

Returns the velocity limit set for the controller. This is stored within the integer data table at VELOCITY_LIMIT_INDEX.

Returns:: velocity limit (%)

Definition at line 283 of file output/controller.h.

double motoman::controller::Controller::getVelocityLimit ( ) [inline]

Returns the velocity limit set for the controller. This is stored within the integer data table at VELOCITY_LIMIT_INDEX.

Returns:: velocity limit (%)

Definition at line 283 of file controller.h.

static bool motoman::controller::Controller::initParameters ( int ctrl_grp = 0 ) [static]

Reads key values from parameter data-list.

Parameters:

ctrl_grp Robot Control Group to retrieve. Zero-based (i.e. 0 = Control Group 1)

Returns:: true if parameters successfully read

bool motoman::controller::Controller::initParameters ( int ctrl_grp = 0 ) [static]

Reads key values from parameter data-list.

Parameters:

ctrl_grp Robot Control Group to retrieve. Zero-based (i.e. 0 = Control Group 1)

Returns:: true if parameters successfully read

Definition at line 64 of file controller.cpp.

static bool motoman::controller::Controller::is_bit_set	(	int	i,
		param_func_t	type
	)		`[inline, static, protected]`

Definition at line 437 of file controller.h.

static bool motoman::controller::Controller::is_bit_set	(	int	i,
		param_func_t	type
	)		`[inline, static, protected]`

Definition at line 437 of file output/controller.h.

bool motoman::controller::Controller::is_valid_ctrl_grp ( int ctrl_grp ) [static, protected]

Definition at line 510 of file controller.cpp.

static bool motoman::controller::Controller::is_valid_ctrl_grp ( int ctrl_grp ) [static, protected]

bool motoman::controller::Controller::isJobStarted ( void ) [inline]

return true if jos has been started (Based on internal class state not MotoPlus call)

Returns:: true if job has been stared

Definition at line 218 of file output/controller.h.

bool motoman::controller::Controller::isJobStarted ( void ) [inline]

return true if jos has been started (Based on internal class state not MotoPlus call)

Returns:: true if job has been stared

Definition at line 218 of file controller.h.

bool motoman::controller::Controller::isMotionEnabled ( void ) [inline]

return true if motion is enabled (Based on internal class state not MotoPlus call)

Returns:: true if motion enabled

Definition at line 210 of file output/controller.h.

bool motoman::controller::Controller::isMotionEnabled ( void ) [inline]

return true if motion is enabled (Based on internal class state not MotoPlus call)

Returns:: true if motion enabled

Definition at line 210 of file controller.h.

bool motoman::controller::Controller::loadJob	(	char *	path,
		char *	job
	)

Utility function for loading a job file from temporary DRAM (the memory supported by all controllers) WARNING: This function is limited to the DRAM root directory.

Parameters:

path	path of the file to load (pass "" if the root directory is used)
job	name of file to load (may not work with a full path)

Returns:: true if job successfully loaded

Definition at line 384 of file controller.cpp.

bool motoman::controller::Controller::loadJob	(	char *	path,
		char *	job
	)

Utility function for loading a job file from temporary DRAM (the memory supported by all controllers) WARNING: This function is limited to the DRAM root directory.

Parameters:

path	path of the file to load (pass "" if the root directory is used)
job	name of file to load (may not work with a full path)

Returns:: true if job successfully loaded

static void motoman::controller::Controller::set_bit	(	int *	i,
		param_func_t	type
	)		`[inline, static, protected]`

Definition at line 438 of file output/controller.h.

static void motoman::controller::Controller::set_bit	(	int *	i,
		param_func_t	type
	)		`[inline, static, protected]`

Definition at line 438 of file controller.h.

static void motoman::controller::Controller::setCtrlGroup ( int ctrl_grp ) [inline, static]

Definition at line 370 of file output/controller.h.

static void motoman::controller::Controller::setCtrlGroup ( int ctrl_grp ) [inline, static]

Definition at line 370 of file controller.h.

void motoman::controller::Controller::setDigitalOut	(	int	bit_offset,
		bool	value
	)

Utility function for setting a digital output in the Universal output data table (most IO is accessible there).

Parameters:

bit_offset	bit offset in data table (0-2047)
value	in incoming message

Definition at line 424 of file controller.cpp.

void motoman::controller::Controller::setDigitalOut	(	int	bit_offset,
		bool	value
	)

Utility function for setting a digital output in the Universal output data table (most IO is accessible there).

Parameters:

bit_offset	bit offset in data table (0-2047)
value	in incoming message

void motoman::controller::Controller::setInteger	(	int	index,
		int	value
	)		`[static]`

Write integer data to the controller integer data table. Function blocks until data is written.

Parameters:

index	index in data table
value	value to write

Definition at line 113 of file controller.cpp.

static void motoman::controller::Controller::setInteger	(	int	index,
		int	value
	)		`[static]`

Write integer data to the controller integer data table. Function blocks until data is written.

Parameters:

index	index in data table
value	value to write

static bool motoman::controller::Controller::setJointPositionVar	(	int	index,
		industrial::joint_data::JointData	ros_joints
	)		`[static]`

Write position-variable data to the controller data table. Function blocks until data is written.

Parameters:

index	index in data table
ros_joints	joint positions to write (ROS-order, radians)

Returns:: true if variable set successfully

bool motoman::controller::Controller::setJointPositionVar	(	int	index,
		industrial::joint_data::JointData	ros_joints
	)		`[static]`

Write position-variable data to the controller data table. Function blocks until data is written.

Parameters:

index	index in data table
ros_joints	joint positions to write (ROS-order, radians)

Returns:: true if variable set successfully

Definition at line 146 of file controller.cpp.

void motoman::controller::Controller::startMotionJob ( char * job_name )

Starts motion job on the controller. Enables motion (Job cannot be started if motion is not enabled).

Definition at line 261 of file controller.cpp.

void motoman::controller::Controller::startMotionJob ( char * job_name )

Starts motion job on the controller. Enables motion (Job cannot be started if motion is not enabled).

void motoman::controller::Controller::stopMotionJob ( char * job_name )

Stops motion job on the controller. Disables motion.

Definition at line 284 of file controller.cpp.

void motoman::controller::Controller::stopMotionJob ( char * job_name )

Stops motion job on the controller. Disables motion.

void motoman::controller::Controller::waitDigitalIn	(	int	bit_offset,
		bool	wait_value
	)

Utility function for waiting for a digital input in the Universal input data tabel (most IO is accessible there).

Parameters:

bit_offset	bit offset in data table (0-2047)
wait_value	in incoming message

Definition at line 442 of file controller.cpp.

void motoman::controller::Controller::waitDigitalIn	(	int	bit_offset,
		bool	wait_value
	)

Utility function for waiting for a digital input in the Universal input data tabel (most IO is accessible there).

Parameters:

bit_offset	bit offset in data table (0-2047)
wait_value	in incoming message

bool motoman::controller::Controller::writeJob	(	char *	path,
		char *	job
	)

Utility function for writing a job file in temporary DRAM (the memory supported by all controllers)

Parameters:

path	full path and name of file to create
job	full job string

Returns:: true if file successfully opened

bool motoman::controller::Controller::writeJob	(	char *	path,
		char *	job
	)

Utility function for writing a job file in temporary DRAM (the memory supported by all controllers)

Parameters:

path	full path and name of file to create
job	full job string

Returns:: true if file successfully opened

Definition at line 303 of file controller.cpp.

Member Data Documentation

static int motoman::controller::Controller::active_ctrl_grp_ = 0 [static, protected]

Definition at line 434 of file controller.h.

MP_HOLD_SEND_DATA motoman::controller::Controller::hold_data [protected]

Definition at line 410 of file controller.h.

MP_STD_RSP_DATA motoman::controller::Controller::hold_error [protected]

Definition at line 411 of file controller.h.

MP_DELETE_JOB_SEND_DATA motoman::controller::Controller::job_delete_data [protected]

Definition at line 405 of file controller.h.

MP_STD_RSP_DATA motoman::controller::Controller::job_error [protected]

Definition at line 406 of file controller.h.

MP_START_JOB_SEND_DATA motoman::controller::Controller::job_start_data [protected]

Definition at line 404 of file controller.h.

bool motoman::controller::Controller::jobStarted [protected]

True if job started.

Definition at line 423 of file controller.h.

bool motoman::controller::Controller::motionEnabled [protected]

True if motion enabled.

Definition at line 418 of file controller.h.

static const int motoman::controller::Controller::MP_ERROR = -1 [static, protected]

Typical MP function call return on error.

Definition at line 382 of file controller.h.

static const int motoman::controller::Controller::MP_OK = 0 [static, protected]

Typical MP function call return on OK (sometimes a value greater than zero is also returned if it has some meaning, like a file descriptor.

Definition at line 389 of file controller.h.

MP_SERVO_POWER_SEND_DATA motoman::controller::Controller::servo_power_data [protected]

Definition at line 400 of file controller.h.

MP_STD_RSP_DATA motoman::controller::Controller::servo_power_error [protected]

Definition at line 401 of file controller.h.

static const int motoman::controller::Controller::UNIV_IN_DATA_START_ = 10 [static, protected]

Definition at line 395 of file controller.h.

static const int motoman::controller::Controller::UNIV_IO_DATA_SIZE_ = 2048 [static, protected]

Definition at line 397 of file controller.h.

static const int motoman::controller::Controller::UNIV_OUT_DATA_START_ = 10010 [static, protected]

Definition at line 396 of file controller.h.

static const int motoman::controller::Controller::VAR_POLL_DELAY_ = 10 [static, protected]

Poll delay (in ticks) when querying the motoplus api.

Definition at line 394 of file controller.h.

static const int motoman::controller::Controller::VELOCITY_LIMIT_INDEX = 94 [static, protected]

Index within integer data table that holds velocity limit.

Definition at line 377 of file controller.h.

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

Public Member Functions

Static Public Member Functions

Protected Member Functions

Static Protected Member Functions

Protected Attributes

Static Protected Attributes

Detailed Description

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation