#include <SerRelayBoard.h>
Public Types | |
enum | RelBoardCmd { CMD_SET_CHARGE_RELAY = 1, CMD_RESET_POS_CNT = 2, CMD_QUICK_STOP = 4, CMD_SET_RELAY1 = 8, CMD_SET_RELAY2 = 16, CMD_SET_RELAY3 = 32, CMD_SET_RELAY4 = 64, CMD_SET_RELAY5 = 128, CMD_SET_RELAY6 = 256, CMD_ZERO_GYRO = 512 } |
enum | RelBoardConfig { CONFIG_HAS_IOBOARD = 1, CONFIG_HAS_USBOARD = 2, CONFIG_HAS_GYROBOARD = 4, CONFIG_HAS_RADARBOARD1 = 8, CONFIG_HAS_RADARBOARD2 = 16, CONFIG_HAS_DRIVES = 32 } |
enum | RelBoardReturns { NO_ERROR = 0, NOT_INITIALIZED = 1, GENERAL_SENDING_ERROR = 2, TOO_LESS_BYTES_IN_QUEUE = 3, NO_MESSAGES = 4, CHECKSUM_ERROR = 5 } |
enum | TypeLCD { LCD_20CHAR_TEXT, LCD_60CHAR_TEXT, RELAY_BOARD_1_4 } |
Public Member Functions | |
int | evalRxBuffer () |
int | getAnalogIn (int *piAnalogIn) |
int | getBatteryVoltage () |
int | getChargeCurrent () |
int | getDigIn () |
bool | init () |
bool | isEMStop () |
bool | isScannerStop () |
bool | reset () |
int | sendRequest () |
SerRelayBoard (std::string ComPort, int ProtocolVersion=1) | |
int | setDigOut (int iChannel, bool bOn) |
bool | shutdown () |
~SerRelayBoard () | |
Protected Member Functions | |
void | convDataToSendMsg (unsigned char cMsg[]) |
bool | convRecMsgToData (unsigned char cMsg[]) |
void | rxCharArray () |
void | txCharArray () |
Protected Attributes | |
bool | m_bComInit |
char | m_cDebugRearLeft [4] |
char | m_cDebugRearRight [4] |
char | m_cSoftEMStop |
unsigned char | m_cTextDisplay [60] |
double | m_dLastPosRearLeft |
double | m_dLastPosRearRight |
int | m_iChargeCurrent |
int | m_iCmdRelayBoard |
int | m_iConfigRelayBoard |
int | m_iDigIn |
int | m_iIOBoardDigOut |
int | m_iMotRearLeftStatus |
int | m_iMotRearRightStatus |
int | m_iNumBytesSend |
int | m_iPosMeasMotRearLeftEnc |
int | m_iPosMeasMotRearRightEnc |
int | m_iProtocolVersion |
int | m_iRelBoardAnalogIn [4] |
int | m_iRelBoardBattVoltage |
int | m_iRelBoardKeyPad |
int | m_iRelBoardStatus |
int | m_iRelBoardTempSensor |
int | m_iTypeLCD |
int | m_iUSBoardSensorActive |
int | m_iVelCmdMotLeftEncS |
int | m_iVelCmdMotRearLeftEncS |
int | m_iVelCmdMotRearRightEncS |
int | m_iVelCmdMotRightEncS |
int | m_iVelMeasMotRearLeftEncS |
int | m_iVelMeasMotRearRightEncS |
Mutex | m_Mutex |
int | m_NUM_BYTE_SEND |
SerialIO | m_SerIO |
std::string | m_sNumComPort |
Driver class for communication with a Neobotix RelayBoard. Uses RS422 with 420 kBaud.
Definition at line 32 of file SerRelayBoard.h.
Enumerator | |
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CMD_SET_CHARGE_RELAY | |
CMD_RESET_POS_CNT | |
CMD_QUICK_STOP | |
CMD_SET_RELAY1 | |
CMD_SET_RELAY2 | |
CMD_SET_RELAY3 | |
CMD_SET_RELAY4 | |
CMD_SET_RELAY5 | |
CMD_SET_RELAY6 | |
CMD_ZERO_GYRO |
Definition at line 74 of file SerRelayBoard.h.
Enumerator | |
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CONFIG_HAS_IOBOARD | |
CONFIG_HAS_USBOARD | |
CONFIG_HAS_GYROBOARD | |
CONFIG_HAS_RADARBOARD1 | |
CONFIG_HAS_RADARBOARD2 | |
CONFIG_HAS_DRIVES |
Definition at line 88 of file SerRelayBoard.h.
Enumerator | |
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NO_ERROR | |
NOT_INITIALIZED | |
GENERAL_SENDING_ERROR | |
TOO_LESS_BYTES_IN_QUEUE | |
NO_MESSAGES | |
CHECKSUM_ERROR |
Definition at line 64 of file SerRelayBoard.h.
Enumerator | |
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LCD_20CHAR_TEXT | |
LCD_60CHAR_TEXT | |
RELAY_BOARD_1_4 |
Definition at line 98 of file SerRelayBoard.h.
SerRelayBoard::SerRelayBoard | ( | std::string | ComPort, |
int | ProtocolVersion = 1 |
||
) |
Definition at line 43 of file SerRelayBoard.cpp.
SerRelayBoard::~SerRelayBoard | ( | ) |
Definition at line 70 of file SerRelayBoard.cpp.
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Definition at line 312 of file SerRelayBoard.cpp.
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Definition at line 447 of file SerRelayBoard.cpp.
int SerRelayBoard::evalRxBuffer | ( | ) |
Definition at line 76 of file SerRelayBoard.cpp.
int SerRelayBoard::getAnalogIn | ( | int * | piAnalogIn | ) |
Definition at line 292 of file SerRelayBoard.cpp.
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Definition at line 54 of file SerRelayBoard.h.
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Definition at line 58 of file SerRelayBoard.h.
int SerRelayBoard::getDigIn | ( | ) |
Definition at line 307 of file SerRelayBoard.cpp.
bool SerRelayBoard::init | ( | ) |
Definition at line 144 of file SerRelayBoard.cpp.
bool SerRelayBoard::isEMStop | ( | ) |
Definition at line 181 of file SerRelayBoard.cpp.
bool SerRelayBoard::isScannerStop | ( | ) |
Definition at line 194 of file SerRelayBoard.cpp.
bool SerRelayBoard::reset | ( | ) |
Definition at line 159 of file SerRelayBoard.cpp.
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int SerRelayBoard::sendRequest | ( | ) |
Definition at line 207 of file SerRelayBoard.cpp.
int SerRelayBoard::setDigOut | ( | int | iChannel, |
bool | bOn | ||
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Definition at line 231 of file SerRelayBoard.cpp.
bool SerRelayBoard::shutdown | ( | ) |
Definition at line 170 of file SerRelayBoard.cpp.
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