A Drive Object controls a single axis. It is responsible for keeping track of its status (enabled, disabled). More...
#include <DriveInterface.hpp>
Public Member Functions | |
| virtual void | addOffset (double addoffset)=0 |
| virtual bool | disableDrive ()=0 |
| virtual double | driveGet () const =0 |
| virtual bool | driveSet (double v)=0 |
| virtual bool | enableDrive ()=0 |
| virtual DigitalOutput * | getEnable ()=0 |
| Get the enable signal of the drive as a DigitalOutput. | |
| virtual double | getOffset ()=0 |
| virtual bool | isEnabled () const =0 |
| virtual void | limit (double lower, double higher, const internal::Signal< void(std::string)> &ev)=0 |
| virtual double | maxDriveGet () const =0 |
| virtual double | minDriveGet () const =0 |
| virtual | ~DriveInterface () |
A Drive Object controls a single axis. It is responsible for keeping track of its status (enabled, disabled).
Definition at line 56 of file DriveInterface.hpp.
| virtual RTT::dev::DriveInterface::~DriveInterface | ( | ) | [inline, virtual] |
Definition at line 59 of file DriveInterface.hpp.
| virtual void RTT::dev::DriveInterface::addOffset | ( | double | addoffset | ) | [pure virtual] |
Add an offset to the current drive value. Use this value to compensate for drift when the drive is enabled.
| virtual bool RTT::dev::DriveInterface::disableDrive | ( | ) | [pure virtual] |
Disable the drive.
| virtual double RTT::dev::DriveInterface::driveGet | ( | ) | const [pure virtual] |
Returns the current drive velocity.
| virtual bool RTT::dev::DriveInterface::driveSet | ( | double | v | ) | [pure virtual] |
Sets a new velocity.
| v | The velocity |
| virtual bool RTT::dev::DriveInterface::enableDrive | ( | ) | [pure virtual] |
Enable the drive.
| virtual DigitalOutput* RTT::dev::DriveInterface::getEnable | ( | ) | [pure virtual] |
Get the enable signal of the drive as a DigitalOutput.
| virtual double RTT::dev::DriveInterface::getOffset | ( | ) | [pure virtual] |
Get the current offset
| virtual bool RTT::dev::DriveInterface::isEnabled | ( | ) | const [pure virtual] |
Query if the drive is enabled or not.
| virtual void RTT::dev::DriveInterface::limit | ( | double | lower, |
| double | higher, | ||
| const internal::Signal< void(std::string)> & | ev | ||
| ) | [pure virtual] |
Limit the velocity of the drive.
| virtual double RTT::dev::DriveInterface::maxDriveGet | ( | ) | const [pure virtual] |
Returns the maximum drive velocity without limitations.
| virtual double RTT::dev::DriveInterface::minDriveGet | ( | ) | const [pure virtual] |
Returns the minimum drive velocity without limitations.