ElmoCtrl Class Reference

#include <ElmoCtrl.h>

Public Types
enum	{ POS_CTRL, VEL_CTRL }

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

Public Attributes
CanDriveHarmonica *	m_Joint
	joint mutexes More...
enum ElmoCtrl:: { ... }	MOTION_CTRL_TYPE

Private Member Functions
bool	sendNetStartCanOpen (CanItf *canCtrl)

Private Attributes
CanOpenAddress	m_CanAddress
int	m_CanBaseAddress
CANPeakSysUSB *	m_CanCtrl
CanMsg	m_CanMsgRec
int	m_EncIncrPerRevMot
double	m_GearRatio
int	m_HomingDigIn
int	m_HomingDir
double	m_JointOffset
DriveParam *	m_JointParams
double	m_LowerLimit
double	m_MaxVel
int	m_MotionCtrlType
int	m_MotorDirection
pthread_mutex_t	m_Mutex
	joint mutexes More...
ElmoCtrlParams *	m_Params
	joint velocity mutexes More...
double	m_UpperLimit

Detailed Description

Definition at line 171 of file ElmoCtrl.h.

Member Enumeration Documentation

anonymous enum

Enumerator
POS_CTRL
VEL_CTRL

Definition at line 225 of file ElmoCtrl.h.

Constructor & Destructor Documentation

ElmoCtrl::ElmoCtrl

(

)

Definition at line 78 of file ElmoCtrl.cpp.

ElmoCtrl::~ElmoCtrl

(

)

Definition at line 88 of file ElmoCtrl.cpp.

Member Function Documentation

int ElmoCtrl::evalCanBuffer

(

)

Triggers evaluation of the can-buffer.

Definition at line 128 of file ElmoCtrl.cpp.

CANPeakSysUSB* ElmoCtrl::GetCanCtrl ( )

inline

Definition at line 231 of file ElmoCtrl.h.

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

Gets the position and velocity.

Parameters

pdAngleGearRad	joint-position in radian
pdVelGearRadS	joint-velocity in radian per second

Definition at line 421 of file ElmoCtrl.cpp.

double ElmoCtrl::getJointVelocity

(

)

int ElmoCtrl::GetMotionCtrlType

(

)

Definition at line 411 of file ElmoCtrl.cpp.

bool ElmoCtrl::Home

(

)

Definition at line 98 of file ElmoCtrl.cpp.

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

Definition at line 164 of file ElmoCtrl.cpp.

bool ElmoCtrl::isError

(

)

Definition at line 416 of file ElmoCtrl.cpp.

double ElmoCtrl::MoveJointSpace

(

double

PosRad

)

bool ElmoCtrl::RecoverAfterEmergencyStop

(

)

Definition at line 148 of file ElmoCtrl.cpp.

bool ElmoCtrl::sendNetStartCanOpen ( CanItf *  canCtrl )

private

Definition at line 62 of file ElmoCtrl.cpp.

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

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

Definition at line 436 of file ElmoCtrl.cpp.

void ElmoCtrl::setMaxVelocity ( float  radpersec )

inline

Definition at line 191 of file ElmoCtrl.h.

bool ElmoCtrl::SetMotionCtrlType

(

int

type

)

Definition at line 386 of file ElmoCtrl.cpp.

bool ElmoCtrl::Stop

(

)

Definition at line 460 of file ElmoCtrl.cpp.

Member Data Documentation

CanOpenAddress ElmoCtrl::m_CanAddress

private

Definition at line 247 of file ElmoCtrl.h.

int ElmoCtrl::m_CanBaseAddress

private

Definition at line 246 of file ElmoCtrl.h.

CANPeakSysUSB* ElmoCtrl::m_CanCtrl

private

Definition at line 249 of file ElmoCtrl.h.

CanMsg ElmoCtrl::m_CanMsgRec

private

Definition at line 276 of file ElmoCtrl.h.

int ElmoCtrl::m_EncIncrPerRevMot

private

Definition at line 255 of file ElmoCtrl.h.

double ElmoCtrl::m_GearRatio

private

Definition at line 257 of file ElmoCtrl.h.

int ElmoCtrl::m_HomingDigIn

private

Definition at line 254 of file ElmoCtrl.h.

int ElmoCtrl::m_HomingDir

private

Definition at line 253 of file ElmoCtrl.h.

CanDriveHarmonica* ElmoCtrl::m_Joint

joint mutexes

Definition at line 236 of file ElmoCtrl.h.

double ElmoCtrl::m_JointOffset

private

Definition at line 261 of file ElmoCtrl.h.

DriveParam* ElmoCtrl::m_JointParams

private

Definition at line 244 of file ElmoCtrl.h.

double ElmoCtrl::m_LowerLimit

private

Definition at line 260 of file ElmoCtrl.h.

double ElmoCtrl::m_MaxVel

private

Definition at line 252 of file ElmoCtrl.h.

int ElmoCtrl::m_MotionCtrlType

private

Definition at line 242 of file ElmoCtrl.h.

int ElmoCtrl::m_MotorDirection

private

Definition at line 256 of file ElmoCtrl.h.

pthread_mutex_t ElmoCtrl::m_Mutex

private

joint mutexes

Definition at line 268 of file ElmoCtrl.h.

ElmoCtrlParams* ElmoCtrl::m_Params

private

joint velocity mutexes

Thread IDs for PowerCube connection threads Arguments for Powercube connection Threads

Definition at line 275 of file ElmoCtrl.h.

double ElmoCtrl::m_UpperLimit

private

Definition at line 259 of file ElmoCtrl.h.

enum { ... } ElmoCtrl::MOTION_CTRL_TYPE

---

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

• ElmoCtrl.h
• ElmoCtrl.cpp