CDxlGeneric.h
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00001 // Dynamixel control code - header file
00002 // Copyright (c) 2008 Erik Schuitema, Eelko van Breda
00003 // Delft University of Technology
00004 // www.dbl.tudelft.nl
00005 
00006 #ifndef __DXLGENERIC_H_INCLUDED__
00007 #define __DXLGENERIC_H_INCLUDED__
00008 #include "CDxlCom.h"
00009 #include "CDxlConfig.h"
00010 #include "CDxlGroup.h"
00011 #include <threemxl/platform/io/logging/Log2.h>
00012 
00013 #include <iostream>
00014 #include <iomanip>
00015 
00016 #define PACKET_RETRY_FACTOR 1
00017 
00018 //forward declarations
00019 class CDxlConfig;
00020 class CDxlGroup;
00021 
00023 typedef struct
00024 {
00025   uint16_t time; 
00026   float pwm,     
00027         current, 
00028         voltage, 
00029         desired, 
00030         actual;  
00031 } __attribute__((packed)) TMxlLogEntry;
00032 
00033 inline std::ostream &operator<<(std::ostream &outs, const TMxlLogEntry &obj)
00034 {
00035   outs << std::fixed
00036        << std::setw(8) << obj.time << " "
00037        << std::setw(8) << obj.pwm << " "
00038        << std::setw(8) << std::setprecision(3) << obj.current << " "
00039        << std::setw(8) << std::setprecision(3) << obj.voltage << " "
00040        << std::setw(8) << std::setprecision(3) << obj.desired << " "
00041        << std::setw(8) << std::setprecision(3) << obj.actual
00042        << std::resetiosflags(std::ios_base::floatfield);
00043 
00044   return outs;
00045 }
00046 
00047 typedef std::vector<TMxlLogEntry> TMxlLog;
00048 
00050 
00055 class CDxlGeneric: public CDxlCom
00056 {
00057 protected:
00058                 CDxlGroup*      mpGroup;
00059                 int                     mID;
00060                 int                     mRetlevel;
00061                 CLog2           mLog;
00062 
00063 public:
00064                 CDxlGeneric():  mLog("CDxlGeneric")
00065                 {
00066 //                      mLog.setLevel(llDebug);
00067 //                      mLog.enableConsoleOutput("false");
00068                         mpGroup = NULL;
00069                 }
00070                 virtual ~CDxlGeneric() {};
00071 
00073 
00078                 int                     readData(BYTE startingAddress, BYTE dataLength, BYTE *data);
00079 
00081 
00087                 int                             writeData(BYTE startingAddress, BYTE dataLength, BYTE *data, bool shouldSyncWrite=false);
00088                 
00090                 int                             action();
00091                 
00093                 int                             reset();
00094                 
00096 
00097                 int                             ping();
00098 
00100 
00104                 virtual int             getID()=0;
00105 
00107 
00111                 virtual void    setGroup(CDxlGroup* group) { mpGroup = group;}
00112 
00114 
00118                 virtual void    setConfig(CDxlConfig* config) {};
00119 
00121 
00122                 virtual void    setSerialPort(LxSerial* serialPort) {};
00123 
00125 
00129                 virtual int             init(bool sendConfigToMotor=true) {mLogWarningLn("init function not implemented"); return false;};
00130 
00132 
00133                 virtual void    setPositiveDirection(bool clockwiseIsPositive) {mLogWarningLn("setPositiveDirection function not implemented");};
00134 
00136 
00137                 virtual void    setNullAngle(double nullAngle) {mLogWarningLn("setNullAngle function not implemented");};
00138 
00140 
00144                 virtual int             setPos(double pos, bool shouldSyncWrite=false) {mLogWarningLn("setPos/1 function not implemented"); return false;};
00145                 
00147 
00152                 virtual int             setPos(double pos, double absSpeed, bool shouldSyncWrite=false) {mLogWarningLn("setPos/2 function not implemented"); return false;};
00153                 
00155 
00161                 virtual int             setPos(double pos, double absSpeed, double acceleration, bool shouldSyncWrite=false) {mLogWarningLn("setPos/3 function not implemented"); return false;};
00162                 
00164 
00169                 virtual int             setLinearPos(double pos, bool shouldSyncWrite=false) {mLogWarningLn("setPosLinear/1 function not implemented"); return false;};
00170                 
00172 
00177                 virtual int             setLinearPos(double pos, double absSpeed, bool shouldSyncWrite=false) {mLogWarningLn("setPosLinear/2 function not implemented"); return false;};
00178                 
00180 
00186                 virtual int             setLinearPos(double pos, double absSpeed, double acceleration, bool shouldSyncWrite=false) {mLogWarningLn("setPosLinear/3 function not implemented"); return false;};
00187                 
00189 
00193                 virtual int             setSpeed(double speed, bool shouldSyncWrite=false) {mLogWarningLn("setSpeed function not implemented"); return false;};
00194 
00196 
00200                 virtual int             setLinearSpeed(double speed, bool shouldSyncWrite=false) {mLogWarningLn("setLinearSpeed function not implemented"); return false;};
00201 
00203 
00207                 virtual int             setAcceleration(double acceleration, bool shouldSyncWrite=false) {mLogWarningLn("setAcceleration function not implemented"); return false;};
00208 
00210 
00214                 virtual int             setLinearAcceleration(double acceleration, bool shouldSyncWrite=false) {mLogWarningLn("setLinearAcceleration function not implemented"); return false;};
00215 
00217 
00221                 virtual int             setTorque(double torque, bool shouldSyncWrite=false)  {mLogWarningLn("setTorque function not implemented"); return false;};
00222 
00224 
00228                 virtual int             setCurrent(double current, bool shouldSyncWrite=false)  {mLogWarningLn("setCurrent function not implemented"); return false;};
00229 
00231 
00235                 virtual int             setPWM(double pwm, bool shouldSyncWrite=false)  {mLogWarningLn("setPWM function not implemented"); return false;};
00236 
00238 
00246                 virtual int     setPosSpeedTorquePPosDPos(double pos, double speed, double torque, int pPos, int dPos, bool shouldSyncWrite=false) {mLogWarningLn("setPosSpeedTorquePPosDPos function not implemented"); return false;};
00247 
00249 
00258                 virtual int             setPIDCurrent(double p, double d, double i, double i_limit, bool shouldSyncWrite=false)  {mLogWarningLn("setPIDCurrent function not implemented"); return false;};
00259 
00261 
00268                 virtual int             getPIDCurrent(double &p, double &d, double &i, double &i_limit)  {mLogWarningLn("getPIDCurrent function not implemented"); return false;};
00269 
00271 
00280                 virtual int             setPIDPosition(double p, double d, double i, double i_limit, bool shouldSyncWrite=false)  {mLogWarningLn("setPIDPosition function not implemented"); return false;};
00281 
00283 
00290                 virtual int             getPIDPosition(double &p, double &d, double &i, double &i_limit)  {mLogWarningLn("getPIDPosition function not implemented"); return false;};
00291 
00293 
00302                 virtual int             setPIDSpeed(double p, double d, double i, double i_limit, bool shouldSyncWrite=false)  {mLogWarningLn("setPIDSpeed function not implemented"); return false;};
00303 
00305 
00312                 virtual int             getPIDSpeed(double &p, double &d, double &i, double &i_limit)  {mLogWarningLn("getPIDSpeed function not implemented"); return false;};
00313 
00315 
00324                 virtual int             setPIDTorque(double p, double d, double i, double i_limit, bool shouldSyncWrite=false)  {mLogWarningLn("setPIDSpeed function not implemented"); return false;};
00325 
00327 
00334                 virtual int             getPIDTorque(double &p, double &d, double &i, double &i_limit)  {mLogWarningLn("getPIDTorque function not implemented"); return false;};
00335 
00337 
00346                 virtual int             setPIDEnergy(double p, double d, double i, double i_limit, bool shouldSyncWrite=false)  {mLogWarningLn("setPIDEnergy function not implemented"); return false;};
00347 
00349 
00356                 virtual int             getPIDEnergy(double &p, double &d, double &i, double &i_limit)  {mLogWarningLn("getPIDEnergy function not implemented"); return false;};
00357 
00359 
00360                 virtual int             setRetlevel(const int returnlevel) {mLogWarningLn("setRetlevel function not implemented"); return false;};
00361 
00363 
00364                 virtual int             setBaudRateIndex(const BYTE baudRateIndex) {mLogWarningLn("setBaudRateIndex function not implemented"); return false;};
00365 
00367 
00368                 virtual int             setBaudRate(const int baudRate) {mLogWarningLn("setBaudRate function not implemented"); return false;};
00369 
00371 
00374                 virtual int             setReturnDelayTime(const int microsecondsReturnDelay) {mLogWarningLn("setReturnDelayTime function not implemented"); return false;};
00375 
00377 
00381                 virtual int             setInitialTorqueLimit(double absMaxTorque) {mLogWarningLn("setInitialTorqueLimit function not implemented"); return false;};
00382 
00384 
00385                 virtual int             setTorqueLimit(double absMaxTorque) {mLogWarningLn("setTorqueLimit function not implemented"); return false;};
00386 
00388 
00392                 virtual int             setAngleLimits(double lowerLimit, double upperLimit) {mLogWarningLn("setAngleLimits function not implemented"); return false;};
00393 
00395 
00399                 virtual int             setVoltageLimits(double minVoltage, double maxVoltage) {mLogWarningLn("setVoltageLimits function not implemented"); return false;};
00400 
00402 
00403                 virtual int             setTemperatureLimit(const int maxTemp) {mLogWarningLn("setTemperatureLimit function not implemented"); return false;};
00404 
00406 
00409                 virtual int             setAngleLowerLimit(double limit) {mLogWarningLn("setAngleLowerLimit function not implemented"); return false;};                                         // In [rad].
00410 
00412 
00415                 virtual int             setAngleUpperLimit(double limit){mLogWarningLn("setAngleUpperLimit function not implemented"); return false;};                                          // In [rad].
00416 
00418 
00423                 virtual int             setCompliance(BYTE complianceMargin, BYTE complianceSlope){mLogWarningLn("setCompliance function not implemented"); return false;};
00424 
00426 
00427                 virtual int             setPunch(WORD punch){mLogWarningLn("setPunch function not implemented"); return false;};
00428 
00430 
00431                 virtual int             setAlarmLEDMask(const BYTE mask){mLogWarningLn("setAlarmLEDMask function not implemented"); return false;};
00432 
00434 
00435                 virtual int             setOperatingMode(const BYTE mode){mLogWarningLn("setOperatingMode function not implemented"); return false;};
00436 
00438 
00439                 virtual int             setAlarmShutdownMask(const BYTE mask){mLogWarningLn("setAlarmShutdownMask function not implemented"); return false;};
00440 
00442 
00445                 virtual int             changeID(const int newID){mLogWarningLn("changeID function not implemented"); return false;};
00446 
00448 
00449                 virtual int             enableLED(int state){mLogWarningLn("enableLED function not implemented"); return false;};
00450 
00452 
00453                 virtual int             enableTorque(int state){mLogWarningLn("enableTorque function not implemented"); return false;};
00454 
00456 
00462                 virtual int             setEndlessTurnMode(bool enabled, bool shouldSyncWrite=false){mLogWarningLn("setEndlessTurnMode function not implemented"); return false;};
00463 
00465 
00469                 virtual int             setEndlessTurnTorque(double torqueRatio, bool shouldSyncWrite=false){mLogWarningLn("setEndlessTurnTorque function not implemented"); return false;};
00470 
00472 
00478                 virtual int             set3MxlMode(BYTE mxlMode, bool shouldSyncWrite = false){mLogWarningLn("set3MxlMode function not implemented"); return false;};
00479 
00481 
00482                 virtual int             setPositiveDirectionMotor(bool clockwiseIsPositive){mLogWarningLn("setPositiveDirectionMotor function not implemented"); return false;};
00483 
00485 
00486                 virtual int             setPositiveDirectionJoint(bool clockwiseIsPositive){mLogWarningLn("setPositiveDirectionJoint function not implemented"); return false;};
00487 
00489 
00490                 virtual int             setMotorOffset(double offset){mLogWarningLn("setMotorOffset function not implemented"); return false;};
00491 
00493 
00494                 virtual int             setJointOffset(double offset){mLogWarningLn("setJointOffset function not implemented"); return false;};
00495 
00497 
00498                 virtual int             setEncoderCountMotor(WORD encodercount){mLogWarningLn("setEncoderCountMotor function not implemented"); return false;};
00499 
00501 
00502                 virtual int             setEncoderCountJoint(WORD encodercount){mLogWarningLn("setEncoderCountJoint function not implemented"); return false;};
00503 
00505 
00506                 virtual int             setMotorConstant(WORD motorconstant){mLogWarningLn("setMotorConstant function not implemented"); return false;};
00507                 
00509 
00510                 virtual int             setMaxPeakMotorCurrent(double current){mLogWarningLn("setMaxMotorPeakCurrent function not implemented"); return false;};
00511                 
00513 
00514                 virtual int             setMaxContinuousMotorCurrent(double current){mLogWarningLn("setMaxMotorContinuousCurrent function not implemented"); return false;};
00515                 
00517 
00518                 virtual int             setMotorWindingTimeConstant(double time){mLogWarningLn("setMotorWindingTimeConstant function not implemented"); return false;};
00519                 
00521 
00522                 virtual int             setEncoderIndexLevelMotor(BYTE level){mLogWarningLn("setEncoderIndexLevelMotor function not implemented"); return false;};
00523                 
00525 
00526                 virtual int             setWheelDiameter(double diameter){mLogWarningLn("setWheelDiameter function not implemented"); return false; };
00527 
00529 
00530                 virtual int             setGearboxRatioMotor(float gearboxratiomotor){mLogWarningLn("setGearboxRatioMotor function not implemented"); return false;};
00531 
00533 
00534                 virtual int             setGearboxRatioJoint(float gearboxratiojoint){mLogWarningLn("setGearboxRatioJoint function not implemented"); return false;};
00535 
00537 
00538                 virtual int             setWatchdogMode(BYTE watchdogmode){mLogWarningLn("setWatchdogMode function not implemented"); return false;};
00539 
00541 
00542                 virtual int             setWatchdogTime(BYTE watchdogtime){mLogWarningLn("setWatchdogTime function not implemented"); return false;};
00543 
00545 
00546                 virtual int             setWatchdogMultiplier(BYTE watchdogmultiplier){mLogWarningLn("setWatchdogMultiplier function not implemented"); return false;};
00547 
00549 
00550                 virtual int             setMaxUninitializedMotorCurrent(WORD maxcurrent){mLogWarningLn("setMaxUninitializedMotorCurrent function not implemented"); return false;};
00551 
00553 
00554                 virtual int             setMaxMotorCurrent(WORD maxcurrent){mLogWarningLn("setMaxMotorCurrent function not implemented"); return false;};
00555 
00557 
00558                 virtual int             setZeroLengthSpring(double parameterInRad){mLogWarningLn("setZeroLengthSpring function not implemented"); return false;};
00559 
00561 
00562                 virtual int             setSpringStiffness(double stiffness){mLogWarningLn("setSpringStiffness function not implemented"); return false;};
00563                 
00565 
00566                 virtual int             setReferenceEnergy(double energy){mLogWarningLn("setReferenceEnergy function not implemented"); return false;};
00567                 
00569 
00574                 virtual int             setSineFrequency(double frequency, bool shouldSyncWrite=false)  {mLogWarningLn("setSineFrequency function not implemented"); return false;};
00575                 
00577 
00583                 virtual int             setSineAmplitude(double amplitude, bool shouldSyncWrite=false)  {mLogWarningLn("setSineAmplitude function not implemented"); return false;};
00584                 
00586 
00592                 virtual int             setSinePhase(double phase, bool shouldSyncWrite=false)  {mLogWarningLn("setSinePhase function not implemented"); return false;};
00593                 
00595 
00599                 virtual int             setLogInterval(BYTE interval){mLogWarningLn("startLog function not implemented"); return false; };
00600 
00602 
00606                 virtual int             setSyncReadIndex(BYTE index){mLogWarningLn("setSyncReadIndex function not implemented"); return false; };
00607 
00609 
00610                 virtual int             getPos(){mLogWarningLn("getPos function not implemented"); return false;};
00611 
00613 
00614                 virtual int             getLinearPos(){mLogWarningLn("getLinearPos function not implemented"); return false;};
00615 
00617 
00618                 virtual int             getPosAndSpeed(){mLogWarningLn("getPosAndSpeed function not implemented"); return false;};
00619 
00621 
00622                 virtual int             getTemp(){mLogWarningLn("getTemp function not implemented"); return false;};
00623 
00625 
00626                 virtual int             getState(){mLogWarningLn("getState function not implemented"); return false;};
00627 
00629 
00633                 virtual int             getAngleLimits(){mLogWarningLn("getAngleLimits function not implemented"); return false;};
00634 
00636 
00637                 virtual int             getVoltage(){mLogWarningLn("getVoltage function not implemented"); return false;};
00638 
00640 
00641                 virtual int             getBusVoltage(){mLogWarningLn("getBusVoltage function not implemented"); return false;};
00642 
00644 
00645                 virtual int             getSensorVoltages(){mLogWarningLn("getSensorsVoltages function not implemented"); return false; };
00646 
00648 
00649                 virtual int             getCurrent(){mLogWarningLn("getCurrent function not implemented"); return false;};
00650 
00652 
00653                 virtual int             getTorque(){mLogWarningLn("getTorque function not implemented"); return false;};
00654 
00656 
00657                 virtual int             getTorquePosSpeed(){mLogWarningLn("getTorquePosSpeed function not implemented"); return false;};
00658                 
00660 
00661                 virtual int             getAcceleration(){mLogWarningLn("getAcceleration function not implemented"); return false;};
00662                 
00664 
00665                 virtual int             getLinearAcceleration(){mLogWarningLn("getLinearAcceleration function not implemented"); return false;};
00666                 
00668                 virtual int             getStatus(){mLogWarningLn("getStatus function not implemented"); return false;};
00669                 
00671 
00672                 virtual int             getLog(){mLogWarningLn("getLog function not implemented"); return false;};
00673 
00675                 virtual int             get3MxlMode(){mLogWarningLn("get3MxlMode function not implemented"); return false;};
00676                 
00678 
00679                 virtual double  presentPos()=0;
00680 
00682 
00683                 virtual double  presentLinearPos()=0;
00684 
00686 
00687                 virtual double  presentSpeed()=0;
00688 
00690 
00691                 virtual double  presentAcceleration()=0;
00692                 
00694 
00695                 virtual double  presentLinearAcceleration()=0;
00696                 
00698 
00699                 virtual double  presentLoad()=0;
00700 
00702 
00703                 virtual double  presentVoltage()=0;
00704 
00706 
00707                 virtual double  presentBusVoltage()=0;
00708 
00710 
00711                 virtual double  presentCurrentADCVoltage()=0;
00712 
00714 
00715                 virtual double  presentAnalog1Voltage()=0;
00716 
00718 
00719                 virtual double  presentAnalog2Voltage()=0;
00720 
00722 
00723                 virtual double  presentAnalog3Voltage()=0;
00724 
00726 
00727                 virtual double  presentAnalog4Voltage()=0;
00728 
00730 
00731                 virtual double  presentTemp()=0;
00732 
00734 
00735                 virtual double  presentCurrent()=0;
00736 
00738 
00739                 virtual double  presentTorque()=0;
00740 
00742 
00746                 virtual int     presentStatus(){mLogWarningLn("presentStatus function not implemented"); return 0;};
00747 
00749 
00750                 virtual bool    presentMotorInitState() {mLogWarningLn("presentMotorInitState function not implemented"); return 0;};
00751 
00753 
00757                 virtual WORD    presentCWAngleLimit()=0;
00758 
00760 
00764                 virtual WORD    presentCCWAngleLimit()=0;
00765 
00767 
00768                 virtual double  presentAngleLowerLimit()=0;
00769 
00771 
00772                 virtual double  presentAngleUpperLimit()=0;
00773 
00775 
00776                 virtual TMxlLog presentLog(){mLogWarningLn("presentLog function not implemented"); return TMxlLog();};
00777 
00779 
00780                 virtual BYTE    present3MxlMode(){mLogWarningLn("present3MxlMode function not implemented"); return 0;};
00781 
00783 
00786                 virtual int     printReport(FILE* fOut){mLogWarningLn("printReport function not implemented"); return false;};
00787 
00789 
00794                 virtual int     interpretControlData(BYTE address, BYTE length, BYTE *data){mLogWarningLn("interpretControlData function not implemented"); return false;};
00795 };
00796 
00797 
00798 #endif //__DXLGENERIC_H_INCLUDED__


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autogenerated on Thu Jun 6 2019 21:10:52