#include <3mxl.h>

Inheritance diagram for C3mxl:

Public Member Functions
	C3mxl ()
virtual int	changeID (const int newID)
	Change hardware motor ID.
virtual int	get3MxlMode ()
	Read behavioral mode of the 3mxl.
virtual int	getAcceleration ()
	Read acceleration from hardware.
virtual int	getBusVoltage ()
	Read bus voltage from hardware.
virtual int	getCurrent ()
	Read current from hardware.
int	getID ()
	Get motor ID.
virtual int	getLinearAcceleration ()
	Read linear acceleration from hardware.
virtual int	getLinearPos ()
	Read linear position from hardware.
virtual int	getLog ()
	Read logfile from hardware.
virtual int	getPIDCurrent (double &p, double &d, double &i, double &i_limit)
	Get PID gains for current control mode.
virtual int	getPIDEnergy (double &p, double &d, double &i, double &i_limit)
	Get PID gains for energy control mode.
virtual int	getPIDPosition (double &p, double &d, double &i, double &i_limit)
	Get PID gains for position control mode.
virtual int	getPIDSpeed (double &p, double &d, double &i, double &i_limit)
	Get PID gains for speed control mode.
virtual int	getPIDTorque (double &p, double &d, double &i, double &i_limit)
	Get PID gains for torque control mode.
virtual int	getPos ()
	Read position from hardware.
virtual int	getPosAndSpeed ()
	Read position and speed from hardware.
virtual int	getSensorVoltages ()
	Read analog sensor voltages from hardware.
virtual int	getState ()
	Read entire state from hardware.
virtual int	getStatus ()
	Read status from hardware.
virtual int	getTorque ()
	Read torque from hardware.
virtual int	getTorquePosSpeed ()
	Read torque, position and speed from hardware.
virtual int	getVoltage ()
	Read motor voltage from hardware.
virtual int	init (bool sendConfigToMotor=true)
	Initialize this Dynamixel.
int	interpretControlData (BYTE address, BYTE length, BYTE *data)
	Interpret data read from control table.
virtual BYTE	present3MxlMode ()
	Get behavioral mode of the 3mxl.
virtual double	presentAcceleration ()
	Get cached acceleration.
virtual double	presentAnalog1Voltage ()
	Get cached analog sensor 1 voltage.
virtual double	presentAnalog2Voltage ()
	Get cached analog sensor 2 voltage.
virtual double	presentAnalog3Voltage ()
	Get cached analog sensor 3 voltage.
virtual double	presentAnalog4Voltage ()
	Get cached analog sensor 4 voltage.
double	presentAngleLowerLimit ()
	Get cached lower angle limit.
double	presentAngleUpperLimit ()
	Get cached upper angle limit.
virtual double	presentBusVoltage ()
	Get cached bus voltage.
WORD	presentCCWAngleLimit ()
	Get cached counter-clockwise angle limit.
virtual double	presentCurrent ()
	Get cached current.
virtual double	presentCurrentADCVoltage ()
	Get cached motor current ADC voltage.
WORD	presentCWAngleLimit ()
	Get cached clockwise angle limit.
virtual double	presentLinearAcceleration ()
	Get cached linear acceleration.
virtual double	presentLinearPos ()
	Get cached linear position.
virtual double	presentLoad ()
	Get cached load value.
virtual TMxlLog	presentLog ()
	Get cached log string/file.
virtual bool	presentMotorInitState ()
	Get motor initialization state.
virtual double	presentPos ()
	Get cached position.
virtual double	presentSpeed ()
	Get cached speed.
virtual int	presentStatus ()
	Get cached status.
virtual double	presentTemp ()
	Get cached temperature.
virtual double	presentTorque ()
	Get cached torque.
virtual double	presentVoltage ()
	Get cached motor voltage.
int	printReport (FILE *fOut)
	Report on this Dynamixel.
virtual int	set3MxlMode (BYTE mxlMode, bool shouldSyncWrite=false)
	Set behaviour of the 3mxl.
virtual int	setAcceleration (double acceleration, bool shouldSyncWrite=false)
	Set acceleration for trajectory generation.
virtual int	setAngleLimits (double lowerLimit, double upperLimit)
	Set angle limits.
virtual int	setAngleLowerLimit (double limit)
	Set lower angle limit.
virtual int	setAngleUpperLimit (double limit)
	Set upper angle limit.
virtual int	setBaudRate (const int baudRate)
	Set baud rate in bits/s.
virtual void	setConfig (CDxlConfig *config)
	Set motor configuration.
virtual int	setCurrent (double current, bool shouldSyncWrite=false)
	Set reference current.
virtual int	setEncoderCountJoint (WORD encodercount)
	Joint encoder counts per revolution.
virtual int	setEncoderCountMotor (WORD encodercount)
	Motor encoder counts per revolution.
virtual int	setEncoderIndexLevelMotor (BYTE level)
	Set motor encoder index pulse signal level.
virtual int	setGearboxRatioJoint (float gearboxratio)
	Ratio between joint and joint encoder.
virtual int	setGearboxRatioMotor (float gearboxratio)
	Ratio between motor and joint.
virtual int	setInitialTorqueLimit (double absMaxTorque)
	Set initial torque limit (EEPROM).
virtual int	setJointOffset (double offset)
	Set joint null angle offset.
virtual int	setLinearAcceleration (double acceleration, bool shouldSyncWrite=false)
	Set linear acceleration for trajectory generation.
virtual int	setLinearPos (double pos, bool shouldSyncWrite=false)
	Set linear reference position.
virtual int	setLinearPos (double pos, double absSpeed, bool shouldSyncWrite=false)
	Set linear reference position and velocity.
virtual int	setLinearPos (double pos, double absSpeed, double acceleration, bool shouldSyncWrite=false)
	Set linear reference position, velocity and acceleration.
virtual int	setLinearSpeed (double speed, bool shouldSyncWrite=false)
	Set linear reference speed.
virtual int	setLogInterval (BYTE interval)
	Set logging interval.
virtual int	setMaxContinuousMotorCurrent (double current)
	Set maximum motor continuous current.
virtual int	setMaxPeakMotorCurrent (double current)
	Set maximum motor peak current.
virtual int	setMotorConstant (WORD motorconstant)
	Set motor constant.
virtual int	setMotorOffset (double offset)
	Set motor null angle offset.
virtual int	setMotorWindingTimeConstant (double time)
	Set motor winding time constant.
virtual int	setPIDCurrent (double p, double d, double i, double i_limit, bool shouldSyncWrite=false)
	Set PID for current control mode.
virtual int	setPIDEnergy (double p, double d, double i, double i_limit, bool shouldSyncWrite=false)
	Set PID for energy control mode.
virtual int	setPIDPosition (double p, double d, double i, double i_limit, bool shouldSyncWrite=false)
	Set PID for position control mode.
virtual int	setPIDSpeed (double p, double d, double i, double i_limit, bool shouldSyncWrite=false)
	Set PID for speed control mode.
virtual int	setPIDTorque (double p, double d, double i, double i_limit, bool shouldSyncWrite=false)
	Set PID for torque control mode.
virtual int	setPos (double pos, bool shouldSyncWrite=false)
	Set reference position.
virtual int	setPos (double pos, double absSpeed, bool shouldSyncWrite=false)
	Set reference position and velocity.
virtual int	setPos (double pos, double absSpeed, double acceleration, bool shouldSyncWrite=false)
	Set reference position, velocity and acceleration.
virtual void	setPositiveDirection (bool clockwiseIsPositive)
	Set direction convention.
virtual int	setPositiveDirectionJoint (bool clockwiseIsPositive)
	Set joint direction convention.
virtual int	setPositiveDirectionMotor (bool clockwiseIsPositive)
	Set motor direction convention.
virtual int	setPosSpeedTorquePPosDPos (double pos, double speed, double torque, int pPos, int dPos, bool shouldSyncWrite=false)
	Set many references simultaneously.
virtual int	setPWM (double pwm, bool shouldSyncWrite=false)
	Set pulse width modulation duty cycle.
virtual int	setReferenceEnergy (double energy)
	Set reference energy for energy control.
virtual int	setRetlevel (const int returnlevel)
	Set status return level.
virtual int	setReturnDelayTime (const int microsecondsReturnDelay)
	Set return delay.
virtual void	setSerialPort (LxSerial *serialPort)
	Set serial port.
virtual int	setSineAmplitude (double amplitude, bool shouldSyncWrite=false)
	Set sine amplitude.
virtual int	setSineFrequency (double frequency, bool shouldSyncWrite=false)
	Set sine frequency.
virtual int	setSinePhase (double phase, bool shouldSyncWrite=false)
	Set sine phase angle.
virtual int	setSpeed (double speed, bool shouldSyncWrite=false)
	Set reference speed.
virtual int	setSpringStiffness (double stiffness)
	Set spring stiffness for series elastic actuation.
virtual int	setSyncReadIndex (BYTE index)
	Set index in sync read chain.
virtual int	setTorque (double torque, bool shouldSyncWrite=false)
	Set reference torque.
virtual int	setTorqueLimit (double absMaxTorque)
	Set operational torque limit (RAM).
virtual int	setWatchdogMode (BYTE watchdogmode)
	What to do if watchdog triggers.
virtual int	setWatchdogMultiplier (BYTE watchdogmultiplier)
	Set watchdog interval (multiplier)
virtual int	setWatchdogTime (BYTE watchdogtime)
	Set watchdog interval (time)
virtual int	setWheelDiameter (double diameter)
	Set wheel diameter.
virtual int	setZeroLengthSpring (double parameterInRad)
	Set zero length of the spring for series elastic actuation.
virtual	~C3mxl ()
Static Public Member Functions
static const char *	translateErrorCode (int errorCode)
Protected Member Functions
int	clip (const int value, const int min, const int max)
int	clipToMaxDWord (int value)
int	clipToMaxWord (int value)
WORD	internalAccelerationToMxlAcceleration (double acceleration)
WORD	internalAmplitudeToMxlAmplitude (double amplitude)
WORD	internalCurrentToMxlCurrent (double current)
WORD	internalFreqToMxlFreq (double frequency)
WORD	internalLinearAccelerationToMxlLinearAcceleration (double acceleration)
DWORD	internalLinearPosToMxlLinearPos (double pos)
WORD	internalLinearSpeedToMxlLinearSpeed (double speed)
WORD	internalPhaseToMxlPhase (double phase)
WORD	internalPosToMxlPos (double pos)
WORD	internalPWMToMxlPWM (double current)
WORD	internalSpeedToMxlSpeed (double speed)
WORD	internalTorqueToMxlTorque (double torque)
WORD	internalVoltageToMxlVoltage (double voltage)
double	mxlAccelerationToInternalAcceleration (WORD acceleration)
double	mxlCurrentToInternalCurrent (WORD current)
double	mxlLinearAccelerationToInternalLinearAcceleration (WORD acceleration)
double	mxlLinearPosToInternalLinearPos (DWORD pos)
double	mxlLinearSpeedToInternalLinearSpeed (WORD speed)
double	mxlPosToInternalPos (WORD pos)
double	mxlPWMToInternalPWM (WORD current)
double	mxlSpeedToInternalSpeed (WORD speed)
double	mxlTorqueToInternalTorque (WORD torque)
double	mxlVoltageToInternalVoltage (WORD voltage)
int	round (double val)
Protected Attributes
double	mAcceleration
double	mAnalog1Voltage
double	mAnalog2Voltage
double	mAnalog3Voltage
double	mAnalog4Voltage
double	mBusVoltage
CDxlConfig	mConfig
double	mCurrent
double	mCurrentADCVoltage
double	mLinearAcceleration
double	mLinearPosition
CLog2	mLog
unsigned char	mMotorInitialized
TMxlLog	mMxlLog
BYTE	mMxlMode
double	mPosition
double	mSpeed
unsigned char	mStatus
double	mTorque
double	mVoltage

Detailed Description

This class interfaces a 3mxl all settings are directly given to the 3mxl if possible. Status information is cached in this object

Definition at line 84 of file 3mxl.h.

Constructor & Destructor Documentation

C3mxl::C3mxl ( )

Definition at line 25 of file 3mxl.cpp.

C3mxl::~C3mxl ( ) [virtual]

Definition at line 36 of file 3mxl.cpp.

Member Function Documentation

int C3mxl::changeID ( const int newID ) [virtual]

Change hardware motor ID.

Actually sets the new ID in the hardware.

Parameters:

newID New ID.

Reimplemented from CDxlGeneric.

Definition at line 815 of file 3mxl.cpp.

int C3mxl::clip	(	const int	value,
		const int	min,
		const int	max
	)		`[inline, protected]`

Definition at line 149 of file 3mxl.h.

int C3mxl::clipToMaxDWord ( int value ) [protected]

Definition at line 218 of file 3mxl.cpp.

int C3mxl::clipToMaxWord ( int value ) [protected]

Definition at line 203 of file 3mxl.cpp.

int C3mxl::get3MxlMode ( ) [virtual]

Read behavioral mode of the 3mxl.

Reimplemented from CDxlGeneric.

Definition at line 469 of file 3mxl.cpp.

int C3mxl::getAcceleration ( ) [virtual]

Read acceleration from hardware.

See also:: presentAcceleration().

Reimplemented from CDxlGeneric.

Definition at line 481 of file 3mxl.cpp.

int C3mxl::getBusVoltage ( ) [virtual]

Read bus voltage from hardware.

See also:: presentBusVoltage().

Reimplemented from CDxlGeneric.

Definition at line 986 of file 3mxl.cpp.

int C3mxl::getCurrent ( ) [virtual]

Read current from hardware.

See also:: presentCurrent().

Reimplemented from CDxlGeneric.

Definition at line 1023 of file 3mxl.cpp.

int C3mxl::getID ( ) [inline, virtual]

Get motor ID.

Warning:: Merely returns the internally cached ID of the motor and does not request it (how could it, anyway?)

Returns:: Motor ID.

Implements CDxlGeneric.

Definition at line 198 of file 3mxl.h.

int C3mxl::getLinearAcceleration ( ) [virtual]

Read linear acceleration from hardware.

See also:: presentLinearAcceleration().

Reimplemented from CDxlGeneric.

Definition at line 497 of file 3mxl.cpp.

int C3mxl::getLinearPos ( ) [virtual]

Read linear position from hardware.

See also:: presentLinearPos().

Reimplemented from CDxlGeneric.

Definition at line 909 of file 3mxl.cpp.

int C3mxl::getLog ( ) [virtual]

Read logfile from hardware.

logfile from hardware to memory. Get a pointer to this array with presentLog().

Reimplemented from CDxlGeneric.

Definition at line 1067 of file 3mxl.cpp.

int C3mxl::getPIDCurrent	(	double &	p,
		double &	d,
		double &	i,
		double &	i_limit
	)		`[virtual]`

Get PID gains for current control mode.

Parameters:

p	Proportional gain
d	Derivative gain
i	Integral gain
i_limit	Integration limit

See also:: setPIDCurrent

Reimplemented from CDxlGeneric.

Definition at line 1408 of file 3mxl.cpp.

int C3mxl::getPIDEnergy	(	double &	p,
		double &	d,
		double &	i,
		double &	i_limit
	)		`[virtual]`

Get PID gains for energy control mode.

Parameters:

p	Proportional gain
d	Derivative gain
i	Integral gain
i_limit	Integration limit

See also:: setPIDTorque

Reimplemented from CDxlGeneric.

Definition at line 1492 of file 3mxl.cpp.

int C3mxl::getPIDPosition	(	double &	p,
		double &	d,
		double &	i,
		double &	i_limit
	)		`[virtual]`

Get PID gains for position control mode.

Parameters:

p	Proportional gain
d	Derivative gain
i	Integral gain
i_limit	Integration limit

See also:: setPIDPosition

Reimplemented from CDxlGeneric.

Definition at line 1429 of file 3mxl.cpp.

int C3mxl::getPIDSpeed	(	double &	p,
		double &	d,
		double &	i,
		double &	i_limit
	)		`[virtual]`

Get PID gains for speed control mode.

Parameters:

p	Proportional gain
d	Derivative gain
i	Integral gain
i_limit	Integration limit

See also:: setPIDSpeed

Reimplemented from CDxlGeneric.

Definition at line 1450 of file 3mxl.cpp.

int C3mxl::getPIDTorque	(	double &	p,
		double &	d,
		double &	i,
		double &	i_limit
	)		`[virtual]`

Get PID gains for torque control mode.

Parameters:

p	Proportional gain
d	Derivative gain
i	Integral gain
i_limit	Integration limit

See also:: setPIDTorque

Reimplemented from CDxlGeneric.

Definition at line 1471 of file 3mxl.cpp.

int C3mxl::getPos ( ) [virtual]

Read position from hardware.

See also:: presentPos().

Reimplemented from CDxlGeneric.

Definition at line 892 of file 3mxl.cpp.

int C3mxl::getPosAndSpeed ( ) [virtual]

Read position and speed from hardware.

See also:: presentPos(), presentSpeed().

Reimplemented from CDxlGeneric.

Definition at line 948 of file 3mxl.cpp.

int C3mxl::getSensorVoltages ( ) [virtual]

Read analog sensor voltages from hardware.

See also:: presentBusVoltage() presentCurrentADCVoltage() presentAnalog1Voltage() presentAnalog2Voltage().

Reimplemented from CDxlGeneric.

Definition at line 1001 of file 3mxl.cpp.

int C3mxl::getState ( ) [virtual]

Read entire state from hardware.

See also:: presentPos(), presentSpeed(), presentLoad(), presentVoltage(), presentTemp().

Reimplemented from CDxlGeneric.

Definition at line 842 of file 3mxl.cpp.

int C3mxl::getStatus ( ) [virtual]

Read status from hardware.

Reimplemented from CDxlGeneric.

Definition at line 1052 of file 3mxl.cpp.

int C3mxl::getTorque ( ) [virtual]

Read torque from hardware.

See also:: presentTorque().

Reimplemented from CDxlGeneric.

Definition at line 1038 of file 3mxl.cpp.

int C3mxl::getTorquePosSpeed ( ) [virtual]

Read torque, position and speed from hardware.

See also:: presentTorque() presentPos() presentSpeed().

Reimplemented from CDxlGeneric.

Definition at line 926 of file 3mxl.cpp.

int C3mxl::getVoltage ( ) [virtual]

Read motor voltage from hardware.

See also:: presentVoltage().

Reimplemented from CDxlGeneric.

Definition at line 971 of file 3mxl.cpp.

int C3mxl::init ( bool sendConfigToMotor = true ) [virtual]

Initialize this Dynamixel.

Warning:: Make sure you call setConfig() before calling init()!

Parameters:

sendConfigToMotor Send configuration to motor

Reimplemented from CDxlGeneric.

Definition at line 742 of file 3mxl.cpp.

WORD C3mxl::internalAccelerationToMxlAcceleration ( double acceleration ) [protected]

Definition at line 120 of file 3mxl.cpp.

WORD C3mxl::internalAmplitudeToMxlAmplitude ( double amplitude ) [protected]

Definition at line 180 of file 3mxl.cpp.

WORD C3mxl::internalCurrentToMxlCurrent ( double current ) [protected]

Definition at line 72 of file 3mxl.cpp.

WORD C3mxl::internalFreqToMxlFreq ( double frequency ) [protected]

Definition at line 174 of file 3mxl.cpp.

WORD C3mxl::internalLinearAccelerationToMxlLinearAcceleration ( double acceleration ) [protected]

Definition at line 156 of file 3mxl.cpp.

DWORD C3mxl::internalLinearPosToMxlLinearPos ( double pos ) [protected]

Definition at line 132 of file 3mxl.cpp.

WORD C3mxl::internalLinearSpeedToMxlLinearSpeed ( double speed ) [protected]

Definition at line 144 of file 3mxl.cpp.

WORD C3mxl::internalPhaseToMxlPhase ( double phase ) [protected]

Definition at line 186 of file 3mxl.cpp.

WORD C3mxl::internalPosToMxlPos ( double pos ) [protected]

Definition at line 96 of file 3mxl.cpp.

WORD C3mxl::internalPWMToMxlPWM ( double current ) [protected]

Definition at line 198 of file 3mxl.cpp.

WORD C3mxl::internalSpeedToMxlSpeed ( double speed ) [protected]

Definition at line 108 of file 3mxl.cpp.

WORD C3mxl::internalTorqueToMxlTorque ( double torque ) [protected]

Definition at line 168 of file 3mxl.cpp.

WORD C3mxl::internalVoltageToMxlVoltage ( double voltage ) [protected]

Definition at line 84 of file 3mxl.cpp.

int C3mxl::interpretControlData	(	BYTE	address,
		BYTE	length,
		BYTE *	data
	)		`[virtual]`

Interpret data read from control table.

Parameters:

address	starting address.
length	number of bytes read.
data	control data.

Reimplemented from CDxlGeneric.

Definition at line 1547 of file 3mxl.cpp.

double C3mxl::mxlAccelerationToInternalAcceleration ( WORD acceleration ) [protected]

Definition at line 114 of file 3mxl.cpp.

double C3mxl::mxlCurrentToInternalCurrent ( WORD current ) [protected]

Definition at line 66 of file 3mxl.cpp.

double C3mxl::mxlLinearAccelerationToInternalLinearAcceleration ( WORD acceleration ) [protected]

Definition at line 150 of file 3mxl.cpp.

double C3mxl::mxlLinearPosToInternalLinearPos ( DWORD pos ) [protected]

Definition at line 126 of file 3mxl.cpp.

double C3mxl::mxlLinearSpeedToInternalLinearSpeed ( WORD speed ) [protected]

Definition at line 138 of file 3mxl.cpp.

double C3mxl::mxlPosToInternalPos ( WORD pos ) [protected]

Definition at line 90 of file 3mxl.cpp.

double C3mxl::mxlPWMToInternalPWM ( WORD current ) [protected]

Definition at line 192 of file 3mxl.cpp.

double C3mxl::mxlSpeedToInternalSpeed ( WORD speed ) [protected]

Definition at line 102 of file 3mxl.cpp.

double C3mxl::mxlTorqueToInternalTorque ( WORD torque ) [protected]

Definition at line 162 of file 3mxl.cpp.

double C3mxl::mxlVoltageToInternalVoltage ( WORD voltage ) [protected]

Definition at line 78 of file 3mxl.cpp.

virtual BYTE C3mxl::present3MxlMode ( ) [inline, virtual]

Get behavioral mode of the 3mxl.

See also:: 3mxl control modes for address M3XL_CONTROL_MODE.

Reimplemented from CDxlGeneric.

Definition at line 308 of file 3mxl.h.

virtual double C3mxl::presentAcceleration ( ) [inline, virtual]

Get cached acceleration.

Returns:: Acceleration in [rad/s^2].

Implements CDxlGeneric.

Definition at line 286 of file 3mxl.h.

virtual double C3mxl::presentAnalog1Voltage ( ) [inline, virtual]

Get cached analog sensor 1 voltage.

Returns:: Sensor voltage in [V].

Implements CDxlGeneric.

Definition at line 292 of file 3mxl.h.

virtual double C3mxl::presentAnalog2Voltage ( ) [inline, virtual]

Get cached analog sensor 2 voltage.

Returns:: Sensor voltage in [V].

Implements CDxlGeneric.

Definition at line 293 of file 3mxl.h.

virtual double C3mxl::presentAnalog3Voltage ( ) [inline, virtual]

Get cached analog sensor 3 voltage.

Returns:: Sensor voltage in [V].

Implements CDxlGeneric.

Definition at line 294 of file 3mxl.h.

virtual double C3mxl::presentAnalog4Voltage ( ) [inline, virtual]

Get cached analog sensor 4 voltage.

Returns:: Sensor voltage in [V].

Implements CDxlGeneric.

Definition at line 295 of file 3mxl.h.

double C3mxl::presentAngleLowerLimit ( ) [inline, virtual]

Get cached lower angle limit.

Returns:: Lower angle limit in [rad].

Implements CDxlGeneric.

Definition at line 304 of file 3mxl.h.

double C3mxl::presentAngleUpperLimit ( ) [inline, virtual]

Get cached upper angle limit.

Returns:: Upper angle limit in [rad].

Implements CDxlGeneric.

Definition at line 305 of file 3mxl.h.

virtual double C3mxl::presentBusVoltage ( ) [inline, virtual]

Get cached bus voltage.

Returns:: Bus voltage in [V].

Implements CDxlGeneric.

Definition at line 290 of file 3mxl.h.

WORD C3mxl::presentCCWAngleLimit ( ) [inline, virtual]

Get cached counter-clockwise angle limit.

Warning:: Ignores the motor's null-angle and direction.

Returns:: Raw counter-clockwise angle limit limit.

Implements CDxlGeneric.

Definition at line 303 of file 3mxl.h.

virtual double C3mxl::presentCurrent ( ) [inline, virtual]

Get cached current.

Returns:: Current in [A].

Implements CDxlGeneric.

Definition at line 297 of file 3mxl.h.

virtual double C3mxl::presentCurrentADCVoltage ( ) [inline, virtual]

Get cached motor current ADC voltage.

Returns:: ADC voltage in [V].

Implements CDxlGeneric.

Definition at line 291 of file 3mxl.h.

WORD C3mxl::presentCWAngleLimit ( ) [inline, virtual]

Get cached clockwise angle limit.

Warning:: Ignores the motor's null-angle and direction.

Returns:: Raw clockwise angle limit limit.

Implements CDxlGeneric.

Definition at line 302 of file 3mxl.h.

virtual double C3mxl::presentLinearAcceleration ( ) [inline, virtual]

Get cached linear acceleration.

Returns:: Acceleration in [m/s^2].

Implements CDxlGeneric.

Definition at line 287 of file 3mxl.h.

virtual double C3mxl::presentLinearPos ( ) [inline, virtual]

Get cached linear position.

Returns:: Position in [m].

Implements CDxlGeneric.

Definition at line 284 of file 3mxl.h.

virtual double C3mxl::presentLoad ( ) [inline, virtual]

Get cached load value.

Returns:: Load in [Nm].

Implements CDxlGeneric.

Definition at line 288 of file 3mxl.h.

virtual TMxlLog C3mxl::presentLog ( ) [inline, virtual]

Get cached log string/file.

Returns:: a vector of log entries.

Reimplemented from CDxlGeneric.

Definition at line 307 of file 3mxl.h.

virtual bool C3mxl::presentMotorInitState ( ) [inline, virtual]

Get motor initialization state.

Returns:: Whether the motor executed the initialization procedure.

Reimplemented from CDxlGeneric.

Definition at line 300 of file 3mxl.h.

virtual double C3mxl::presentPos ( ) [inline, virtual]

Get cached position.

Returns:: Position in [rad].

Implements CDxlGeneric.

Definition at line 283 of file 3mxl.h.

virtual double C3mxl::presentSpeed ( ) [inline, virtual]

Get cached speed.

Returns:: Speed in [rad/s].

Implements CDxlGeneric.

Definition at line 285 of file 3mxl.h.

virtual int C3mxl::presentStatus ( ) [inline, virtual]

Get cached status.

Returns:: Status.

See also:: 3mxl status codes for address M3XL_STATUS.

Reimplemented from CDxlGeneric.

Definition at line 299 of file 3mxl.h.

virtual double C3mxl::presentTemp ( ) [inline, virtual]

Get cached temperature.

Returns:: Temperature in [deg. C].

Implements CDxlGeneric.

Definition at line 296 of file 3mxl.h.

virtual double C3mxl::presentTorque ( ) [inline, virtual]

Get cached torque.

Returns:: Torque in [Nm].

Implements CDxlGeneric.

Definition at line 298 of file 3mxl.h.

virtual double C3mxl::presentVoltage ( ) [inline, virtual]

Get cached motor voltage.

Returns:: Motor voltage in [V].

Implements CDxlGeneric.

Definition at line 289 of file 3mxl.h.

int C3mxl::printReport ( FILE * fOut ) [virtual]

Report on this Dynamixel.

Reads out the motor's complete control table.

Parameters:

fOut	Output file.

Reimplemented from CDxlGeneric.

Definition at line 1520 of file 3mxl.cpp.

int C3mxl::round ( double val ) [inline, protected]

Definition at line 159 of file 3mxl.h.

int C3mxl::set3MxlMode	(	BYTE	mxlMode,
		bool	shouldSyncWrite = `false`
	)		`[virtual]`

Set behaviour of the 3mxl.

Warning:: Stops the motor.

Parameters:

mxlMode	Control mode.
shouldSyncWrite	Accumulate data instead of sending immediately.

See also:: 3mxl control modes for address M3XL_CONTROL_MODE.

Reimplemented from CDxlGeneric.

Definition at line 454 of file 3mxl.cpp.

int C3mxl::setAcceleration	(	double	acceleration,
		bool	shouldSyncWrite = `false`
	)		`[virtual]`

Set acceleration for trajectory generation.

Parameters:

acceleration	Acceleration in [rad/s^2].
shouldSyncWrite	Accumulate data instead of sending immediately.

Reimplemented from CDxlGeneric.

Definition at line 1212 of file 3mxl.cpp.

int C3mxl::setAngleLimits	(	double	lowerLimit,
		double	upperLimit
	)		`[virtual]`

Set angle limits.

Parameters:

lowerLimit	Lower angle limit in [rad].
upperLimit	Upper angle limit in [rad].

Reimplemented from CDxlGeneric.

Definition at line 663 of file 3mxl.cpp.

int C3mxl::setAngleLowerLimit ( double limit ) [virtual]

Set lower angle limit.

Parameters:

limit Lower angle limit in [rad].

Reimplemented from CDxlGeneric.

Definition at line 623 of file 3mxl.cpp.

int C3mxl::setAngleUpperLimit ( double limit ) [virtual]

Set upper angle limit.

Parameters:

limit Upper angle limit in [rad].

Reimplemented from CDxlGeneric.

Definition at line 634 of file 3mxl.cpp.

int C3mxl::setBaudRate ( const int baudRate ) [virtual]

Set baud rate in bits/s.

Parameters:

baudRate Baudrate in [bit/s].

Reimplemented from CDxlGeneric.

Definition at line 577 of file 3mxl.cpp.

void C3mxl::setConfig ( CDxlConfig * config ) [virtual]

Set motor configuration.

The configuration is written to the motor during init().

Warning:: After init(), the fields of mConfig are not guaranteed to be up to date anymore!

Reimplemented from CDxlGeneric.

Definition at line 233 of file 3mxl.cpp.

int C3mxl::setCurrent	(	double	current,
		bool	shouldSyncWrite = `false`
	)		`[virtual]`

Set reference current.

Parameters:

current	Current in [A]
shouldSyncWrite	Accumulate data instead of sending immediately.

Reimplemented from CDxlGeneric.

Definition at line 1247 of file 3mxl.cpp.

int C3mxl::setEncoderCountJoint ( WORD encodercount ) [virtual]

Joint encoder counts per revolution.

Parameters:

encodercount Counts per revolution

Reimplemented from CDxlGeneric.

Definition at line 347 of file 3mxl.cpp.

int C3mxl::setEncoderCountMotor ( WORD encodercount ) [virtual]

Motor encoder counts per revolution.

Parameters:

encodercount Counts per revolution

Reimplemented from CDxlGeneric.

Definition at line 337 of file 3mxl.cpp.

int C3mxl::setEncoderIndexLevelMotor ( BYTE level ) [virtual]

Set motor encoder index pulse signal level.

Parameters:

level Low (0) or high (1) index pulse signal.

Reimplemented from CDxlGeneric.

Definition at line 400 of file 3mxl.cpp.

int C3mxl::setGearboxRatioJoint ( float gearboxratiojoint ) [virtual]

Ratio between joint and joint encoder.

Parameters:

gearboxratiojoint turns of encoder for one joint revolution.

Reimplemented from CDxlGeneric.

Definition at line 438 of file 3mxl.cpp.

int C3mxl::setGearboxRatioMotor ( float gearboxratiomotor ) [virtual]

Ratio between motor and joint.

Parameters:

gearboxratiomotor turns of motor for one joint revolution.

Reimplemented from CDxlGeneric.

Definition at line 422 of file 3mxl.cpp.

int C3mxl::setInitialTorqueLimit ( double absMaxTorque ) [virtual]

Set initial torque limit (EEPROM).

This value is copied to ram during power-on.

Parameters:

absMaxTorque Torque limi as fraction of maximum possible torque.

Reimplemented from CDxlGeneric.

Definition at line 601 of file 3mxl.cpp.

int C3mxl::setJointOffset ( double offset ) [virtual]

Set joint null angle offset.

Parameters:

offset Offset in [rad].

Reimplemented from CDxlGeneric.

Definition at line 326 of file 3mxl.cpp.

int C3mxl::setLinearAcceleration	(	double	acceleration,
		bool	shouldSyncWrite = `false`
	)		`[virtual]`

Set linear acceleration for trajectory generation.

Parameters:

acceleration	Acceleration in [m/s^2].
shouldSyncWrite	Accumulate data instead of sending immediately.

Reimplemented from CDxlGeneric.

Definition at line 1224 of file 3mxl.cpp.

int C3mxl::setLinearPos	(	double	pos,
		bool	shouldSyncWrite = `false`
	)		`[virtual]`

Set linear reference position.

Parameters:

pos	Position in [m]
absSpeed	Speed in [m/s]. Speed is absolute (positive in either direction). 0 speed means slowest. Negative speed means: MAXIMUM speed.
shouldSyncWrite	Accumulate data instead of sending immediately.

Reimplemented from CDxlGeneric.

Definition at line 1106 of file 3mxl.cpp.

int C3mxl::setLinearPos	(	double	pos,
		double	absSpeed,
		bool	shouldSyncWrite = `false`
	)		`[virtual]`

Set linear reference position and velocity.

Parameters:

pos	Position in [m]
absSpeed	Speed in [m/s]. Speed is absolute (positive in either direction). 0 speed means slowest. Negative speed means: MAXIMUM speed.
shouldSyncWrite	Accumulate data instead of sending immediately.

Reimplemented from CDxlGeneric.

Definition at line 1134 of file 3mxl.cpp.

int C3mxl::setLinearPos	(	double	pos,
		double	absSpeed,
		double	acceleration,
		bool	shouldSyncWrite = `false`
	)		`[virtual]`

Set linear reference position, velocity and acceleration.

Parameters:

pos	Position in [m]
absSpeed	Speed in [m/s]. Speed is absolute (positive in either direction). 0 speed means slowest. Negative speed means: MAXIMUM speed.
acceleration	Acceleration in [m/s^2].
shouldSyncWrite	Accumulate data instead of sending immediately.

Reimplemented from CDxlGeneric.

Definition at line 1169 of file 3mxl.cpp.

int C3mxl::setLinearSpeed	(	double	speed,
		bool	shouldSyncWrite = `false`
	)		`[virtual]`

Set linear reference speed.

Parameters:

speed	Speed in [m/s]. Speed can be positive or negative.
shouldSyncWrite	Accumulate data instead of sending immediately.

Reimplemented from CDxlGeneric.

Definition at line 1200 of file 3mxl.cpp.

int C3mxl::setLogInterval ( BYTE interval ) [virtual]

Set logging interval.

Note:: Call this to make sure you're logging for the right motor.

Parameters:

interval logging interval in [ms].

Reimplemented from CDxlGeneric.

Definition at line 868 of file 3mxl.cpp.

int C3mxl::setMaxContinuousMotorCurrent ( double current ) [virtual]

Set maximum motor continuous current.

Parameters:

current Maxmimum continuous current in [A].

Reimplemented from CDxlGeneric.

Definition at line 378 of file 3mxl.cpp.

int C3mxl::setMaxPeakMotorCurrent ( double current ) [virtual]

Set maximum motor peak current.

Parameters:

current Maxmimum peak current in [A].

Reimplemented from CDxlGeneric.

Definition at line 367 of file 3mxl.cpp.

int C3mxl::setMotorConstant ( WORD motorconstant ) [virtual]

Set motor constant.

Parameters:

motorconstant Motor constant in [10^-4 Nm/A].

Reimplemented from CDxlGeneric.

Definition at line 357 of file 3mxl.cpp.

int C3mxl::setMotorOffset ( double offset ) [virtual]

Set motor null angle offset.

Parameters:

offset Offset in [rad].

Reimplemented from CDxlGeneric.

Definition at line 316 of file 3mxl.cpp.

int C3mxl::setMotorWindingTimeConstant ( double time ) [virtual]

Set motor winding time constant.

Parameters:

time	Motor winding temperature time constant in [s].

Reimplemented from CDxlGeneric.

Definition at line 389 of file 3mxl.cpp.

int C3mxl::setPIDCurrent	(	double	p,
		double	d,
		double	i,
		double	i_limit,
		bool	shouldSyncWrite = `false`
	)		`[virtual]`

Set PID for current control mode.

The error is in SI units ([A]), and the output range of the control equation is [-1, 1].

Parameters:

p	Proportional gain
d	Derivative gain
i	Integral gain
i_limit	Integration limit
shouldSyncWrite	Accumulate data instead of sending immediately.

Reimplemented from CDxlGeneric.

Definition at line 1327 of file 3mxl.cpp.

int C3mxl::setPIDEnergy	(	double	p,
		double	d,
		double	i,
		double	i_limit,
		bool	shouldSyncWrite = `false`
	)		`[virtual]`

Set PID for energy control mode.

The error is in SI units ([J]), and the output range of the control equation is [-1, 1].

Parameters:

p	Proportional gain
d	Derivative gain
i	Integral gain
i_limit	Integration limit
shouldSyncWrite	Accumulate data instead of sending immediately.

Reimplemented from CDxlGeneric.

Definition at line 1392 of file 3mxl.cpp.

int C3mxl::setPIDPosition	(	double	p,
		double	d,
		double	i,
		double	i_limit,
		bool	shouldSyncWrite = `false`
	)		`[virtual]`

Set PID for position control mode.

The error is in SI units ([rad]), and the output range of the control equation is [-1, 1].

Parameters:

p	Proportional gain
d	Derivative gain
i	Integral gain
i_limit	Integration limit
shouldSyncWrite	Accumulate data instead of sending immediately.

Reimplemented from CDxlGeneric.

Definition at line 1344 of file 3mxl.cpp.

int C3mxl::setPIDSpeed	(	double	p,
		double	d,
		double	i,
		double	i_limit,
		bool	shouldSyncWrite = `false`
	)		`[virtual]`

Set PID for speed control mode.

The error is in SI units ([rad/s]), and the output range of the control equation is [-1, 1].

Parameters:

p	Proportional gain
d	Derivative gain
i	Integral gain
i_limit	Integration limit
shouldSyncWrite	Accumulate data instead of sending immediately.

Reimplemented from CDxlGeneric.

Definition at line 1360 of file 3mxl.cpp.

int C3mxl::setPIDTorque	(	double	p,
		double	d,
		double	i,
		double	i_limit,
		bool	shouldSyncWrite = `false`
	)		`[virtual]`

Set PID for torque control mode.

The error is in SI units ([Nm]), and the output range of the control equation is [-1, 1].

Parameters:

p	Proportional gain
d	Derivative gain
i	Integral gain
i_limit	Integration limit
shouldSyncWrite	Accumulate data instead of sending immediately.

Reimplemented from CDxlGeneric.

Definition at line 1376 of file 3mxl.cpp.

int C3mxl::setPos	(	double	pos,
		bool	shouldSyncWrite = `false`
	)		`[virtual]`

Set reference position.

Parameters:

pos	Position in [rad]
shouldSyncWrite	Accumulate data instead of sending immediately.

Reimplemented from CDxlGeneric.

Definition at line 1094 of file 3mxl.cpp.

int C3mxl::setPos	(	double	pos,
		double	absSpeed,
		bool	shouldSyncWrite = `false`
	)		`[virtual]`

Set reference position and velocity.

Parameters:

pos	Position in [rad]
absSpeed	Speed in [rad/s]. Speed is absolute (positive in either direction). 0 speed means slowest. Negative speed means: MAXIMUM speed.
shouldSyncWrite	Accumulate data instead of sending immediately.

Reimplemented from CDxlGeneric.

Definition at line 1118 of file 3mxl.cpp.

int C3mxl::setPos	(	double	pos,
		double	absSpeed,
		double	acceleration,
		bool	shouldSyncWrite = `false`
	)		`[virtual]`

Set reference position, velocity and acceleration.

Parameters:

pos	Position in [rad]
absSpeed	Speed in [rad/s]. Speed is absolute (positive in either direction). 0 speed means slowest. Negative speed means: MAXIMUM speed.
acceleration	Acceleration in [rad/s^2].
shouldSyncWrite	Accumulate data instead of sending immediately.

Reimplemented from CDxlGeneric.

Definition at line 1151 of file 3mxl.cpp.

void C3mxl::setPositiveDirection ( bool clockwiseIsPositive ) [virtual]

Set direction convention.

Parameters:

clockwiseIsPositive True if clockwise direction is positive

Reimplemented from CDxlGeneric.

Definition at line 280 of file 3mxl.cpp.

int C3mxl::setPositiveDirectionJoint ( bool clockwiseIsPositive ) [virtual]

Set joint direction convention.

Parameters:

clockwiseIsPositive True if clockwise direction is positive

Reimplemented from CDxlGeneric.

Definition at line 301 of file 3mxl.cpp.

int C3mxl::setPositiveDirectionMotor ( bool clockwiseIsPositive ) [virtual]

Set motor direction convention.

Parameters:

clockwiseIsPositive True if clockwise direction is positive

Reimplemented from CDxlGeneric.

Definition at line 285 of file 3mxl.cpp.

int C3mxl::setPosSpeedTorquePPosDPos	(	double	pos,
		double	speed,
		double	torque,
		int	pPos,
		int	dPos,
		bool	shouldSyncWrite = `false`
	)		`[virtual]`

Set many references simultaneously.

Parameters:

pos	Position in [rad]
speed	Speed in [rad/s]
torque	Torque in [Nm]
pPos	Position controller P gain
dPos	Position controller D gain
shouldSyncWrite	Accumulate data instead of sending immediately.

Reimplemented from CDxlGeneric.

Definition at line 1305 of file 3mxl.cpp.

int C3mxl::setPWM	(	double	pwm,
		bool	shouldSyncWrite = `false`
	)		`[virtual]`

Set pulse width modulation duty cycle.

Parameters:

pwm	PWM duty cycle, between -1 and 1.
shouldSyncWrite	Accumulate data instead of sending immediately.

Reimplemented from CDxlGeneric.

Definition at line 1258 of file 3mxl.cpp.

int C3mxl::setReferenceEnergy ( double energy ) [virtual]

Set reference energy for energy control.

Parameters:

energy Reference energy in [J]

Reimplemented from CDxlGeneric.

Definition at line 704 of file 3mxl.cpp.

int C3mxl::setRetlevel ( const int returnlevel ) [virtual]

Set status return level.

Parameters:

returnlevel

Return status packet on

0 PING
1 PING+READ
2 all commands

Reimplemented from CDxlGeneric.

Definition at line 564 of file 3mxl.cpp.

int C3mxl::setReturnDelayTime ( const int microsecondsReturnDelay ) [virtual]

Set return delay.

Delay between transmission of Instruction Packet until the return of Status Packet.

Parameters:

microsecondsReturnDelay Return delay in [us].

Reimplemented from CDxlGeneric.

Definition at line 588 of file 3mxl.cpp.

void C3mxl::setSerialPort ( LxSerial * serialPort ) [virtual]

Set serial port.

serialPort Serial port.

Reimplemented from CDxlGeneric.

Definition at line 273 of file 3mxl.cpp.

int C3mxl::setSineAmplitude	(	double	amplitude,
		bool	shouldSyncWrite = `false`
	)		`[virtual]`

Set sine amplitude.

Warning:: Does not start the motor. Use setSineFrequency for that.

Parameters:

amplitude	Amplitude in [rad]
shouldSyncWrite	Accumulate data instead of sending immediately.

See also:: setSineFrequency

Reimplemented from CDxlGeneric.

Definition at line 1281 of file 3mxl.cpp.

int C3mxl::setSineFrequency	(	double	frequency,
		bool	shouldSyncWrite = `false`
	)		`[virtual]`

Set sine frequency.

Note:: Starts the motor.

Parameters:

frequency	Frequency in [Hz]
shouldSyncWrite	Accumulate data instead of sending immediately.

Reimplemented from CDxlGeneric.

Definition at line 1269 of file 3mxl.cpp.

int C3mxl::setSinePhase	(	double	phase,
		bool	shouldSyncWrite = `false`
	)		`[virtual]`

Set sine phase angle.

Warning:: Does not start the motor. Use setSineFrequency for that.

Parameters:

phase	Phase in [rad]
shouldSyncWrite	Accumulate data instead of sending immediately.

See also:: setSineFrequency

Reimplemented from CDxlGeneric.

Definition at line 1293 of file 3mxl.cpp.

int C3mxl::setSpeed	(	double	speed,
		bool	shouldSyncWrite = `false`
	)		`[virtual]`

Set reference speed.

Parameters:

speed	Speed in [rad/s]. Speed can be positive or negative.
shouldSyncWrite	Accumulate data instead of sending immediately.

Reimplemented from CDxlGeneric.

Definition at line 1187 of file 3mxl.cpp.

int C3mxl::setSpringStiffness ( double stiffness ) [virtual]

Set spring stiffness for series elastic actuation.

Parameters:

stiffness Spring stiffness in [Nm/rad]

Reimplemented from CDxlGeneric.

Definition at line 691 of file 3mxl.cpp.

int C3mxl::setSyncReadIndex ( BYTE index ) [virtual]

Set index in sync read chain.

Note:: Normally called by CDxlGroup.

Parameters:

index index. 0 means this motor does not participate in the chain.

Reimplemented from CDxlGeneric.

Definition at line 882 of file 3mxl.cpp.

int C3mxl::setTorque	(	double	torque,
		bool	shouldSyncWrite = `false`
	)		`[virtual]`

Set reference torque.

Parameters:

torque	Torque in [Nm]
shouldSyncWrite	Accumulate data instead of sending immediately.

Reimplemented from CDxlGeneric.

Definition at line 1236 of file 3mxl.cpp.

int C3mxl::setTorqueLimit ( double absMaxTorque ) [virtual]

Set operational torque limit (RAM).

Parameters:

absMaxTorque Torque limit as fraction of maximum possible torque.

Reimplemented from CDxlGeneric.

Definition at line 612 of file 3mxl.cpp.

int C3mxl::setWatchdogMode ( BYTE watchdogmode ) [virtual]

What to do if watchdog triggers.

Parameters:

watchdogmode Unused

Reimplemented from CDxlGeneric.

Definition at line 513 of file 3mxl.cpp.

int C3mxl::setWatchdogMultiplier ( BYTE watchdogmultiplier ) [virtual]

Set watchdog interval (multiplier)

Parameters:

watchdogmultiplier Watchdog interval = time * multiplier.

Reimplemented from CDxlGeneric.

Definition at line 533 of file 3mxl.cpp.

int C3mxl::setWatchdogTime ( BYTE watchdogtime ) [virtual]

Set watchdog interval (time)

Parameters:

watchdogtime Watchdog interval = time * multiplier.

Reimplemented from CDxlGeneric.

Definition at line 523 of file 3mxl.cpp.

int C3mxl::setWheelDiameter ( double diameter ) [virtual]

Set wheel diameter.

Parameters:

diameter Wheel diameter in [m].

Reimplemented from CDxlGeneric.

Definition at line 410 of file 3mxl.cpp.

int C3mxl::setZeroLengthSpring ( double parameterInRad ) [virtual]

Set zero length of the spring for series elastic actuation.

Parameters:

parameterInRad Zero length in [rad].

Reimplemented from CDxlGeneric.

Definition at line 680 of file 3mxl.cpp.

const char * C3mxl::translateErrorCode ( int errorCode ) [static]

Returns:: Human-readable error code

Reimplemented from CDxlCom.

Definition at line 40 of file 3mxl.cpp.

Member Data Documentation

double C3mxl::mAcceleration [protected]

Definition at line 104 of file 3mxl.h.

double C3mxl::mAnalog1Voltage [protected]

Definition at line 95 of file 3mxl.h.

double C3mxl::mAnalog2Voltage [protected]

Definition at line 96 of file 3mxl.h.

double C3mxl::mAnalog3Voltage [protected]

Definition at line 97 of file 3mxl.h.

double C3mxl::mAnalog4Voltage [protected]

Definition at line 98 of file 3mxl.h.

double C3mxl::mBusVoltage [protected]

Definition at line 93 of file 3mxl.h.

CDxlConfig C3mxl::mConfig [protected]

Definition at line 89 of file 3mxl.h.

double C3mxl::mCurrent [protected]

Definition at line 99 of file 3mxl.h.

double C3mxl::mCurrentADCVoltage [protected]

Definition at line 94 of file 3mxl.h.

double C3mxl::mLinearAcceleration [protected]

Definition at line 105 of file 3mxl.h.

double C3mxl::mLinearPosition [protected]

Definition at line 102 of file 3mxl.h.

CLog2 C3mxl::mLog [protected]

Reimplemented from CDxlGeneric.

Definition at line 90 of file 3mxl.h.

unsigned char C3mxl::mMotorInitialized [protected]

Definition at line 107 of file 3mxl.h.

TMxlLog C3mxl::mMxlLog [protected]

Definition at line 109 of file 3mxl.h.

BYTE C3mxl::mMxlMode [protected]

Definition at line 110 of file 3mxl.h.

double C3mxl::mPosition [protected]

Definition at line 101 of file 3mxl.h.

double C3mxl::mSpeed [protected]

Definition at line 103 of file 3mxl.h.

unsigned char C3mxl::mStatus [protected]

Definition at line 106 of file 3mxl.h.

double C3mxl::mTorque [protected]

Definition at line 100 of file 3mxl.h.

double C3mxl::mVoltage [protected]

Definition at line 92 of file 3mxl.h.

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

Public Member Functions

Static Public Member Functions

Protected Member Functions

Protected Attributes

Detailed Description

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation