General class that allow to get/set parameters from/to qbrobotics devices. More...

#include <qbrobotics_research_api.h>

Inheritance diagram for qbrobotics_research_api::Device:

[legend]

Classes
class	Params
	Manage qbrobotics devices parameters. More...

Public Member Functions
	Device (std::shared_ptr< Communication > communication, std::string name, std::string serial_port, uint8_t id)

	Device (std::shared_ptr< Communication > communication, std::string name, std::string serial_port, uint8_t id, bool init_params)

	Device (std::shared_ptr< Communication > communication, std::string name, std::string serial_port, uint8_t id, bool init_params, std::unique_ptr< Params > params)

virtual int	getAccelerations (std::vector< int16_t > &accelerations)
	Get the motor(s) acceleration(s) More...

virtual int	getControlReferences (std::vector< int16_t > &control_references)
	Get the reference command sent to the motor(s) of the device. More...

virtual int	getCurrents (std::vector< int16_t > &currents)
	Get the device current(s) absorbed by the motor(s) More...

virtual int	getCurrentsAndPositions (std::vector< int16_t > &currents, std::vector< int16_t > &positions)
	Get the device currents absorbed by the motor(s) and its/their position(s) More...

virtual int	getCycleTime (int16_t &cycle_time)

virtual int	getInfo (std::string &info)
	Get all system information. More...

virtual int	getInfo (uint16_t info_type, std::string &info)
	Get the Info of the device. More...

virtual int	getMotorStates (bool &motor_state)
	Get the device motor state. More...

virtual int	getParamControlMode ()
	Update the device control mode in the class variable `param_`. More...

virtual int	getParamControlMode (uint8_t &control_mode)
	Get the control mode parameter. More...

virtual int	getParamCurrentLimit ()
	Update the current limits parameters in the class variable `param_`. More...

virtual int	getParamCurrentLimit (int16_t &current_limit)
	Get current limit parameter. More...

virtual int	getParamCurrentPID ()
	Update the device current PID parameters in the class variable `param_`. More...

virtual int	getParamCurrentPID (std::vector< float > &current_pid)
	Get the device current PID parameters. More...

virtual int	getParamEncoderMultipliers ()
	Update the device encoder multipliers in the class variable `param_`. More...

virtual int	getParamEncoderMultipliers (std::vector< float > &encoder_multipliers)
	Get the encoder multipliers parameters. More...

virtual int	getParamEncoderOffsets ()
	Update the device encoder offsets in the class variable `param_`. More...

virtual int	getParamEncoderOffsets (std::vector< int16_t > &encoder_offsets)
	Get the encoder offsets parameters. More...

virtual int	getParamEncoderResolutions ()
	Update the device encoder resolutions in the class variable `param_`. More...

virtual int	getParamEncoderResolutions (std::vector< uint8_t > &encoder_resolutions)
	Get the encoder resolution parameters. More...

virtual int	getParameters (std::vector< int8_t > &param_buffer)
	Get the parameters from the device. More...

virtual int	getParameters (uint8_t id, std::vector< int8_t > &param_buffer)
	Get the parameters from the device with ID `id`. More...

virtual int	getParamId ()
	Update the device ID in the class variable `param_`. More...

virtual int	getParamId (uint8_t &id)
	Get the device ID. More...

virtual int	getParamInputMode ()
	Get the input mode parameter in the class variable `param_`. More...

virtual int	getParamInputMode (uint8_t &input_mode)
	Get the input parameter to the correspective value of the input mode. More...

virtual int	getParamPositionLimits ()
	Update the position limits parameters in the class variable `param_`. More...

virtual int	getParamPositionLimits (std::vector< int32_t > &position_limits)
	Get position limits parameters. More...

virtual int	getParamPositionMaxSteps ()
	Update the max step position parameters in the class variable `param_`. More...

virtual int	getParamPositionMaxSteps (std::vector< int32_t > &position_max_steps)
	Get max steps position parameters. More...

virtual int	getParamPositionPID ()
	Update the device position PID parameters in the class variable `param_`. More...

virtual int	getParamPositionPID (std::vector< float > &position_pid)
	Get the device position PID parameters. More...

std::shared_ptr< Params >	getParams ()

virtual int	getParamStartupActivation ()
	Update the startup activation parameter in the class variable `param_`. More...

virtual int	getParamStartupActivation (uint8_t &startup_activation)
	Get the startup activation parameter. More...

virtual int	getParamUsePositionLimits ()
	Update the the use of position limits in the class variable `param_`. More...

virtual int	getParamUsePositionLimits (uint8_t &use_position_limits)
	Get the use of position limits parameter. More...

virtual int	getPositions (std::vector< int16_t > &positions)
	Get the Positions given by the encoders mounted on the device. More...

virtual int	getVelocities (std::vector< int16_t > &velocities)
	Get the motor(s) velocitie(s) More...

bool	isQbmove ()

bool	isSH2M ()

bool	isSHPRO ()

virtual int	ping ()

virtual int	restoreFactoryDataMemory ()
	Restore factory parameter on 7.X.X firmware devices. More...

virtual int	restoreUserDataMemory ()
	Restore user parameter on 7.X.X firmware devices. More...

virtual int	setBootloaderMode ()
	Set the bootloader mode. More...

virtual int	setControlReferences (const std::vector< int16_t > &control_references)
	Set motor(s) control reference - position[tick]. More...

virtual int	setControlReferencesAndWait (const std::vector< int16_t > &control_references)
	Set motor(s) control reference and wait for acknowledge - position[tick](only for legacy qbmoves) More...

virtual int	setMotorStates (bool motor_state)
	Activate or deactivate the motor(s) More...

virtual int	setParamBaudrate (uint8_t prescaler_divider)
	Set the device baud rate. More...

virtual int	setParamControlMode (uint8_t control_mode)
	Set the control mode parameter of the device. More...

virtual int	setParamCurrentLimit (int16_t current_limit)
	Set the cerrent limit parameter of the device. More...

virtual int	setParamCurrentPID (const std::vector< float > &current_pid)
	Set the current PID parameters of the device. More...

virtual int	setParamEncoderMultipliers (const std::vector< float > &encoder_multipliers)
	Set the encoder multipliers parameters of the device. More...

virtual int	setParamEncoderOffsets (const std::vector< int16_t > &encoder_offsets)
	Set the encoder offsets parameters of the device. More...

virtual int	setParamEncoderResolutions (const std::vector< uint8_t > &encoder_resolutions)
	Set the encoder resolutions parameters of the device. More...

virtual int	setParameter (uint16_t param_type, const std::vector< int8_t > &param_data)
	Set the Parameter specified by `param_type` with the values stored in `param_data`. More...

virtual int	setParamId (uint8_t id)
	Set the ID of the device. More...

virtual int	setParamInputMode (uint8_t input_mode)
	Set the input mode parameter of the device. More...

virtual int	setParamPositionLimits (const std::vector< int32_t > &position_limits)
	Set the position limits parameters of the device. More...

virtual int	setParamPositionMaxSteps (const std::vector< int32_t > &position_max_steps)
	Set the position max steps parameters of the device. More...

virtual int	setParamPositionPID (const std::vector< float > &position_pid)
	Set the position PID parameters of the device. More...

virtual int	setParamStartupActivation (bool startup_activation)
	Set the startup activation parameter of the device. More...

virtual int	setParamUsePositionLimits (bool use_position_limits)
	Enable or disable the use of position limits. More...

virtual int	setParamZeros ()
	Set motor(s) zero(s) to actual encoder reading. More...

virtual int	storeFactoryDataMemory ()
	Store the changed parameters on 7.X.X firmware devices in factory memory. More...

virtual int	storeUserDataMemory ()
	Store the changed parameters on 7.X.X firmware devices in user memory. More...

virtual	~Device ()=default

Protected Attributes
std::shared_ptr< Communication >	communication_

std::string	name_

std::shared_ptr< Params >	params_

std::string	serial_port_

Detailed Description

General class that allow to get/set parameters from/to qbrobotics devices.

Definition at line 268 of file qbrobotics_research_api.h.

Constructor & Destructor Documentation

◆ Device() [1/3]

Device::Device	(	std::shared_ptr< Communication >	communication,
		std::string	name,
		std::string	serial_port,
		uint8_t	id
	)

explicit

Definition at line 611 of file qbrobotics_research_api.cpp.

◆ Device() [2/3]

Device::Device	(	std::shared_ptr< Communication >	communication,
		std::string	name,
		std::string	serial_port,
		uint8_t	id,
		bool	init_params
	)

explicit

Definition at line 614 of file qbrobotics_research_api.cpp.

◆ Device() [3/3]

Device::Device	(	std::shared_ptr< Communication >	communication,
		std::string	name,
		std::string	serial_port,
		uint8_t	id,
		bool	init_params,
		std::unique_ptr< Params >	params
	)

explicit

Definition at line 617 of file qbrobotics_research_api.cpp.

◆ ~Device()

virtual qbrobotics_research_api::Device::~Device ( )

virtualdefault

Member Function Documentation

◆ getAccelerations()

int Device::getAccelerations ( std::vector< int16_t > & accelerations )

virtual

Get the motor(s) acceleration(s)

Parameters

[out] accelerations[tick/s^2] vector passed by reference

Returns: 0 on success, -1 on error

Definition at line 687 of file qbrobotics_research_api.cpp.

◆ getControlReferences()

int Device::getControlReferences ( std::vector< int16_t > & control_references )

virtual

Get the reference command sent to the motor(s) of the device.

Parameters

[out] control_references[tick] vector passed by reference

Returns: 0 on success, -1 on error

Reimplemented in qbrobotics_research_api::qbmoveLegacyResearch.

Definition at line 639 of file qbrobotics_research_api.cpp.

◆ getCurrents()

int Device::getCurrents ( std::vector< int16_t > & currents )

virtual

Get the device current(s) absorbed by the motor(s)

Parameters

[out] currents[mA] vector passed by reference

Returns: 0 on success, -1 on error

Definition at line 648 of file qbrobotics_research_api.cpp.

◆ getCurrentsAndPositions()

int Device::getCurrentsAndPositions	(	std::vector< int16_t > &	currents,
		std::vector< int16_t > &	positions
	)

virtual

Get the device currents absorbed by the motor(s) and its/their position(s)

Parameters

[out]	currents[mA]	vector passed by reference
[out]	positions[tick]	vector passed by reference

Returns: 0 on success, -1 on error

Definition at line 657 of file qbrobotics_research_api.cpp.

◆ getCycleTime()

int Device::getCycleTime ( int16_t & cycle_time )

virtual

Definition at line 708 of file qbrobotics_research_api.cpp.

◆ getInfo() [1/2]

int Device::getInfo ( std::string & info )

virtual

Get all system information.

Parameters

[out] info std::string passed by reference

Returns: 0 on success, -1 on error

Definition at line 745 of file qbrobotics_research_api.cpp.

◆ getInfo() [2/2]

int Device::getInfo	(	uint16_t	info_type,
		std::string &	info
	)

virtual

Get the Info of the device.

Parameters

info_type	- 0 All system information; - 1 Cycles information; - 2 Read Firmware Parameters from SD file; - 3 Read Usage Data from SD file.
info[out]	std::string passed by reference

Returns: 0 on success, -1 on error

Definition at line 749 of file qbrobotics_research_api.cpp.

◆ getMotorStates()

int Device::getMotorStates ( bool & motor_state )

virtual

Get the device motor state.

Parameters

[out] motor_state boolean passed by reference

Returns: 0 on success, -1 on error

Definition at line 696 of file qbrobotics_research_api.cpp.

◆ getParamControlMode() [1/2]

int Device::getParamControlMode ( )

virtual

Update the device control mode in the class variable param_.

0 - Classic position control
1 - Direct PWM value
2 - Current control
3 - Position and current control
4 - Deflection control (only for qbmoves)
5 - Deflection and current control (only for qbmoves)
Returns
0 on success, -1 on error

Definition at line 837 of file qbrobotics_research_api.cpp.

◆ getParamControlMode() [2/2]

int Device::getParamControlMode ( uint8_t & control_mode )

virtual

Get the control mode parameter.

Parameters

[out]

control_mode

0 - Classic position control
1 - Direct PWM value
2 - Current control
3 - Position and current control
4 - Deflection control (only for qbmoves)
5 - Deflection and current control (only for qbmoves)

Returns: 0 on success, -1 on error

Definition at line 841 of file qbrobotics_research_api.cpp.

◆ getParamCurrentLimit() [1/2]

int Device::getParamCurrentLimit ( )

virtual

Update the current limits parameters in the class variable param_.

Returns: 0 on success, -1 on error

Definition at line 928 of file qbrobotics_research_api.cpp.

◆ getParamCurrentLimit() [2/2]

int Device::getParamCurrentLimit ( int16_t & current_limit )

virtual

Get current limit parameter.

Parameters

[out] current_limit[mA]

Returns: 0 on success, -1 on error

Definition at line 932 of file qbrobotics_research_api.cpp.

◆ getParamCurrentPID() [1/2]

int Device::getParamCurrentPID ( )

virtual

Update the device current PID parameters in the class variable param_.

Returns: 0 on success, -1 on error

Definition at line 798 of file qbrobotics_research_api.cpp.

◆ getParamCurrentPID() [2/2]

int Device::getParamCurrentPID ( std::vector< float > & current_pid )

virtual

Get the device current PID parameters.

Parameters

[out] current_pid

Returns: 0 on success, -1 on error

Definition at line 802 of file qbrobotics_research_api.cpp.

◆ getParamEncoderMultipliers() [1/2]

int Device::getParamEncoderMultipliers ( )

virtual

Update the device encoder multipliers in the class variable param_.

Returns: 0 on success, -1 on error

Definition at line 876 of file qbrobotics_research_api.cpp.

◆ getParamEncoderMultipliers() [2/2]

int Device::getParamEncoderMultipliers ( std::vector< float > & encoder_multipliers )

virtual

Get the encoder multipliers parameters.

Parameters

[out] encoder_multipliers

Returns: 0 on success, -1 on error

Definition at line 880 of file qbrobotics_research_api.cpp.

◆ getParamEncoderOffsets() [1/2]

int Device::getParamEncoderOffsets ( )

virtual

Update the device encoder offsets in the class variable param_.

Returns: 0 on success, -1 on error

Reimplemented in qbrobotics_research_api::qbmoveLegacyResearch, and qbrobotics_research_api::qbSoftHand2MotorsResearch.

Definition at line 863 of file qbrobotics_research_api.cpp.

◆ getParamEncoderOffsets() [2/2]

int Device::getParamEncoderOffsets ( std::vector< int16_t > & encoder_offsets )

virtual

Get the encoder offsets parameters.

Parameters

[out] encoder_offsets

Returns: 0 on success, -1 on error

Reimplemented in qbrobotics_research_api::qbmoveLegacyResearch, and qbrobotics_research_api::qbSoftHand2MotorsResearch.

Definition at line 867 of file qbrobotics_research_api.cpp.

◆ getParamEncoderResolutions() [1/2]

int Device::getParamEncoderResolutions ( )

virtual

Update the device encoder resolutions in the class variable param_.

Returns: 0 on success, -1 on error

Definition at line 850 of file qbrobotics_research_api.cpp.

◆ getParamEncoderResolutions() [2/2]

int Device::getParamEncoderResolutions ( std::vector< uint8_t > & encoder_resolutions )

virtual

Get the encoder resolution parameters.

Parameters

[out] encoder_resolutions

Returns: 0 on success, -1 on error

Definition at line 854 of file qbrobotics_research_api.cpp.

◆ getParameters() [1/2]

int Device::getParameters ( std::vector< int8_t > & param_buffer )

virtual

Get the parameters from the device.

Parameters

[out] param_buffer vector passed by reference

Returns: 0 on success, -1 on error

Definition at line 759 of file qbrobotics_research_api.cpp.

◆ getParameters() [2/2]

int Device::getParameters	(	uint8_t	id,
		std::vector< int8_t > &	param_buffer
	)

virtual

Get the parameters from the device with ID id.

Parameters

[out]	id	device ID
[out]	param_buffer	vector passed by reference

Returns: 0 on success, -1 on error

See also: getParameters(uint8_t id, std::vector<int8_t> &param_buffer)

Definition at line 763 of file qbrobotics_research_api.cpp.

◆ getParamId() [1/2]

int Device::getParamId ( )

virtual

Update the device ID in the class variable param_.

Returns: 0 on success, -1 on error

Definition at line 772 of file qbrobotics_research_api.cpp.

◆ getParamId() [2/2]

int Device::getParamId ( uint8_t & id )

virtual

Get the device ID.

Parameters

[out] id device ID

Returns: 0 on success, -1 on error

See also: getParameters(uint8_t id, std::vector<int8_t> &param_buffer)

Definition at line 776 of file qbrobotics_research_api.cpp.

◆ getParamInputMode() [1/2]

int Device::getParamInputMode ( )

virtual

Get the input mode parameter in the class variable param_.

These values are:

0 - References through external commands
1 - Encoder 3 drives all inputs
2 - Use EMG measure to proportionally drive the position of the motor 1
3 - Use 2 EMG signals to drive motor position
4 - Use 2 EMG. First reaching threshold wins and its value defines hand closure
5 - Use 2 EMG. First reaching threshold wins and its value defines hand closure. Wait for both EMG to lower under threshold

Returns: 0 on success, -1 on error

Definition at line 824 of file qbrobotics_research_api.cpp.

◆ getParamInputMode() [2/2]

int Device::getParamInputMode ( uint8_t & input_mode )

virtual

Get the input parameter to the correspective value of the input mode.

Parameters

[out]

input_mode

The possible values are:

0 - References through external commands
1 - Encoder 3 drives all inputs
2 - Use EMG measure to proportionally drive the position of the motor 1
3 - Use 2 EMG signals to drive motor position
4 - Use 2 EMG. First reaching threshold wins and its value defines hand closure
5 - Use 2 EMG. First reaching threshold wins and its value defines hand closure. Wait for both EMG to lower under threshold

Returns: 0 on success, -1 on error

Definition at line 828 of file qbrobotics_research_api.cpp.

◆ getParamPositionLimits() [1/2]

int Device::getParamPositionLimits ( )

virtual

Update the position limits parameters in the class variable param_.

Returns: 0 on success, -1 on error

Definition at line 902 of file qbrobotics_research_api.cpp.

◆ getParamPositionLimits() [2/2]

int Device::getParamPositionLimits ( std::vector< int32_t > & position_limits )

virtual

Get position limits parameters.

Parameters

[out] position_limits

Returns: 0 on success, -1 on error

Definition at line 906 of file qbrobotics_research_api.cpp.

◆ getParamPositionMaxSteps() [1/2]

int Device::getParamPositionMaxSteps ( )

virtual

Update the max step position parameters in the class variable param_.

Returns: 0 on success, -1 on error

Definition at line 915 of file qbrobotics_research_api.cpp.

◆ getParamPositionMaxSteps() [2/2]

int Device::getParamPositionMaxSteps ( std::vector< int32_t > & position_max_steps )

virtual

Get max steps position parameters.

Parameters

[out] position_max_steps

Returns: 0 on success, -1 on error

Definition at line 919 of file qbrobotics_research_api.cpp.

◆ getParamPositionPID() [1/2]

int Device::getParamPositionPID ( )

virtual

Update the device position PID parameters in the class variable param_.

Returns: 0 on success, -1 on error

Definition at line 785 of file qbrobotics_research_api.cpp.

◆ getParamPositionPID() [2/2]

int Device::getParamPositionPID ( std::vector< float > & position_pid )

virtual

Get the device position PID parameters.

Parameters

[out] position_pid

Returns: 0 on success, -1 on error

Definition at line 789 of file qbrobotics_research_api.cpp.

◆ getParams()

std::shared_ptr<Params> qbrobotics_research_api::Device::getParams ( )

inline

Definition at line 844 of file qbrobotics_research_api.h.

◆ getParamStartupActivation() [1/2]

int Device::getParamStartupActivation ( )

virtual

Update the startup activation parameter in the class variable param_.

Returns: 0 on success, -1 on error

Definition at line 811 of file qbrobotics_research_api.cpp.

◆ getParamStartupActivation() [2/2]

int Device::getParamStartupActivation ( uint8_t & startup_activation )

virtual

Get the startup activation parameter.

Parameters

[out] startup_activation

Returns: 0 on success, -1 on error

Definition at line 815 of file qbrobotics_research_api.cpp.

◆ getParamUsePositionLimits() [1/2]

int Device::getParamUsePositionLimits ( )

virtual

Update the the use of position limits in the class variable param_.

Returns: 0 on success, -1 on error

Definition at line 889 of file qbrobotics_research_api.cpp.

◆ getParamUsePositionLimits() [2/2]

int Device::getParamUsePositionLimits ( uint8_t & use_position_limits )

virtual

Get the use of position limits parameter.

Parameters

[out] use_position_limits 0 false, 1 true

Returns: 0 on success, -1 on error

Definition at line 893 of file qbrobotics_research_api.cpp.

◆ getPositions()

int Device::getPositions ( std::vector< int16_t > & positions )

virtual

Get the Positions given by the encoders mounted on the device.

Parameters

[out] positions[tick] vector passed by reference

Returns: 0 on success, -1 on error

Definition at line 669 of file qbrobotics_research_api.cpp.

◆ getVelocities()

int Device::getVelocities ( std::vector< int16_t > & velocities )

virtual

Get the motor(s) velocitie(s)

Parameters

[out] velocities[tick/s] vector passed by reference

Returns: 0 on success, -1 on error

Definition at line 678 of file qbrobotics_research_api.cpp.

◆ isQbmove()

bool qbrobotics_research_api::Device::isQbmove ( )

inline

Definition at line 845 of file qbrobotics_research_api.h.

◆ isSH2M()

bool qbrobotics_research_api::Device::isSH2M ( )

inline

Definition at line 847 of file qbrobotics_research_api.h.

◆ isSHPRO()

bool qbrobotics_research_api::Device::isSHPRO ( )

inline

Definition at line 846 of file qbrobotics_research_api.h.

◆ ping()

int Device::ping ( )

virtual

Definition at line 635 of file qbrobotics_research_api.cpp.

◆ restoreFactoryDataMemory()

int Device::restoreFactoryDataMemory ( )

virtual

Restore factory parameter on 7.X.X firmware devices.

For 6.X.X it executes INIT_MEM command

Returns: 0 on success, <0 on error

Warning: The improper use of this function could damage the device and invalidate the device warranty. Contact our support team (suppo.nosp@m.rt@q.nosp@m.brobo.nosp@m.tics.nosp@m..com) for more information.

Definition at line 1096 of file qbrobotics_research_api.cpp.

◆ restoreUserDataMemory()

int Device::restoreUserDataMemory ( )

virtual

Restore user parameter on 7.X.X firmware devices.

Warning: not use it in 6.X.X devices.

Returns: 0 on success, <0 on error

Warning: The improper use of this function could damage the device and invalidate the device warranty. Contact our support team (suppo.nosp@m.rt@q.nosp@m.brobo.nosp@m.tics.nosp@m..com) for more information.

Definition at line 1110 of file qbrobotics_research_api.cpp.

◆ setBootloaderMode()

int Device::setBootloaderMode ( )

virtual

Set the bootloader mode.

Returns: 0 on success, <0 on error

Warning: The improper use of this function could damage the device and invalidate the device warranty. Contact our support team (suppo.nosp@m.rt@q.nosp@m.brobo.nosp@m.tics.nosp@m..com) for more information.

Definition at line 1146 of file qbrobotics_research_api.cpp.

◆ setControlReferences()

int Device::setControlReferences ( const std::vector< int16_t > & control_references )

virtual

Set motor(s) control reference - position[tick].

Parameters

control_references[tick]

Returns: 0 on success, -1 on error

Definition at line 717 of file qbrobotics_research_api.cpp.

◆ setControlReferencesAndWait()

int Device::setControlReferencesAndWait ( const std::vector< int16_t > & control_references )

virtual

Set motor(s) control reference and wait for acknowledge - position[tick](only for legacy qbmoves)

Parameters

control_references[tick]

Returns: 0 on success, -1 on error

Definition at line 725 of file qbrobotics_research_api.cpp.

◆ setMotorStates()

int Device::setMotorStates ( bool motor_state )

virtual

Activate or deactivate the motor(s)

Parameters

motor_state the desired motor(s) state(s)

Returns: 0 on success, -1 on error

Reimplemented in qbrobotics_research_api::qbSoftHandLegacyResearch, qbrobotics_research_api::qbmoveLegacyResearch, and qbrobotics_research_api::qbSoftHand2MotorsResearch.

Definition at line 737 of file qbrobotics_research_api.cpp.

◆ setParamBaudrate()

int Device::setParamBaudrate ( uint8_t prescaler_divider )

virtual

Set the device baud rate.

Parameters

prescaler_divider

Returns: 0 on success, -1 on error

Warning: The improper use of this function could damage the device and invalidate the device warranty. Contact our support team (suppo.nosp@m.rt@q.nosp@m.brobo.nosp@m.tics.nosp@m..com) for more information.

Definition at line 1071 of file qbrobotics_research_api.cpp.

◆ setParamControlMode()

int Device::setParamControlMode ( uint8_t control_mode )

virtual

Set the control mode parameter of the device.

Parameters

control_mode

Returns: 0 on success, < 0 on error

Warning: The improper use of this function could damage the device and invalidate the device warranty. Contact our support team (suppo.nosp@m.rt@q.nosp@m.brobo.nosp@m.tics.nosp@m..com) for more information.

Definition at line 999 of file qbrobotics_research_api.cpp.

◆ setParamCurrentLimit()

int Device::setParamCurrentLimit ( int16_t current_limit )

virtual

Set the cerrent limit parameter of the device.

Parameters

current_limit

Returns: 0 on success, < 0 on error

Warning: The improper use of this function could damage the device and invalidate the device warranty. Contact our support team (suppo.nosp@m.rt@q.nosp@m.brobo.nosp@m.tics.nosp@m..com) for more information.

Definition at line 1055 of file qbrobotics_research_api.cpp.

◆ setParamCurrentPID()

int Device::setParamCurrentPID ( const std::vector< float > & current_pid )

virtual

Set the current PID parameters of the device.

Parameters

current_pid desired device PID(current) parameters

Returns: 0 on success, < 0 on error

Warning: The improper use of this function could damage the device and invalidate the device warranty. Contact our support team (suppo.nosp@m.rt@q.nosp@m.brobo.nosp@m.tics.nosp@m..com) for more information.

Definition at line 975 of file qbrobotics_research_api.cpp.

◆ setParamEncoderMultipliers()

int Device::setParamEncoderMultipliers ( const std::vector< float > & encoder_multipliers )

virtual

Set the encoder multipliers parameters of the device.

Parameters

encoder_multipliers

Returns: 0 on success, < 0 on error

Warning: The improper use of this function could damage the device and invalidate the device warranty. Contact our support team (suppo.nosp@m.rt@q.nosp@m.brobo.nosp@m.tics.nosp@m..com) for more information.

Definition at line 1023 of file qbrobotics_research_api.cpp.

◆ setParamEncoderOffsets()

int Device::setParamEncoderOffsets ( const std::vector< int16_t > & encoder_offsets )

virtual

Set the encoder offsets parameters of the device.

Parameters

encoder_offsets

Returns: 0 on success, < 0 on error

Warning: The improper use of this function could damage the device and invalidate the device warranty. Contact our support team (suppo.nosp@m.rt@q.nosp@m.brobo.nosp@m.tics.nosp@m..com) for more information.

Reimplemented in qbrobotics_research_api::qbmoveLegacyResearch, and qbrobotics_research_api::qbSoftHand2MotorsResearch.

Definition at line 1015 of file qbrobotics_research_api.cpp.

◆ setParamEncoderResolutions()

int Device::setParamEncoderResolutions ( const std::vector< uint8_t > & encoder_resolutions )

virtual

Set the encoder resolutions parameters of the device.

Parameters

encoder_resolutions

Returns: 0 on success, < 0 on error

Warning: The improper use of this function could damage the device and invalidate the device warranty. Contact our support team (suppo.nosp@m.rt@q.nosp@m.brobo.nosp@m.tics.nosp@m..com) for more information.

Definition at line 1007 of file qbrobotics_research_api.cpp.

◆ setParameter()

int Device::setParameter	(	uint16_t	param_type,
		const std::vector< int8_t > &	param_data
	)

virtual

Set the Parameter specified by param_type with the values stored in param_data.

Parameters

param_type	ID of the parameter to be set
param_data	value(s) to be set

Returns: 0 on success, < 0 on error

Warning: The improper use of this function could damage the device and invalidate the device warranty. Contact our support team (suppo.nosp@m.rt@q.nosp@m.brobo.nosp@m.tics.nosp@m..com) for more information.

Reimplemented in qbrobotics_research_api::qbSoftHandLegacyResearch, qbrobotics_research_api::qbmoveLegacyResearch, and qbrobotics_research_api::qbSoftHand2MotorsResearch.

Definition at line 941 of file qbrobotics_research_api.cpp.

◆ setParamId()

int Device::setParamId ( uint8_t id )

virtual

Set the ID of the device.

Parameters

id	desired device ID

Returns: 0 on success, < 0 on error

Reimplemented in qbrobotics_research_api::qbSoftHandLegacyResearch, qbrobotics_research_api::qbmoveLegacyResearch, and qbrobotics_research_api::qbSoftHand2MotorsResearch.

Definition at line 959 of file qbrobotics_research_api.cpp.

◆ setParamInputMode()

int Device::setParamInputMode ( uint8_t input_mode )

virtual

Set the input mode parameter of the device.

Parameters

input_mode

Returns: 0 on success, < 0 on error

Warning: The improper use of this function could damage the device and invalidate the device warranty. Contact our support team (suppo.nosp@m.rt@q.nosp@m.brobo.nosp@m.tics.nosp@m..com) for more information.

Definition at line 991 of file qbrobotics_research_api.cpp.

◆ setParamPositionLimits()

int Device::setParamPositionLimits ( const std::vector< int32_t > & position_limits )

virtual

Set the position limits parameters of the device.

Parameters

position_limits

Returns: 0 on success, < 0 on error

Warning: The improper use of this function could damage the device and invalidate the device warranty. Contact our support team (suppo.nosp@m.rt@q.nosp@m.brobo.nosp@m.tics.nosp@m..com) for more information.

Definition at line 1039 of file qbrobotics_research_api.cpp.

◆ setParamPositionMaxSteps()

int Device::setParamPositionMaxSteps ( const std::vector< int32_t > & position_max_steps )

virtual

Set the position max steps parameters of the device.

Parameters

position_max_steps

Returns: 0 on success, < 0 on error

Warning: The improper use of this function could damage the device and invalidate the device warranty. Contact our support team (suppo.nosp@m.rt@q.nosp@m.brobo.nosp@m.tics.nosp@m..com) for more information.

Definition at line 1047 of file qbrobotics_research_api.cpp.

◆ setParamPositionPID()

int Device::setParamPositionPID ( const std::vector< float > & position_pid )

virtual

Set the position PID parameters of the device.

Parameters

position_pid desired device PID(position) parameters

Returns: 0 on success, < 0 on error

Warning: The improper use of this function could damage the device and invalidate the device warranty. Contact our support team (suppo.nosp@m.rt@q.nosp@m.brobo.nosp@m.tics.nosp@m..com) for more information.

Definition at line 967 of file qbrobotics_research_api.cpp.

◆ setParamStartupActivation()

int Device::setParamStartupActivation ( bool startup_activation )

virtual

Set the startup activation parameter of the device.

Parameters

startup_activation

Returns: 0 on success, < 0 on error

Definition at line 983 of file qbrobotics_research_api.cpp.

◆ setParamUsePositionLimits()

int Device::setParamUsePositionLimits ( bool use_position_limits )

virtual

Enable or disable the use of position limits.

Parameters

use_position_limits

Returns: 0 on success, < 0 on error

Warning: The improper use of this function could damage the device and invalidate the device warranty. Contact our support team (suppo.nosp@m.rt@q.nosp@m.brobo.nosp@m.tics.nosp@m..com) for more information.

Definition at line 1031 of file qbrobotics_research_api.cpp.

◆ setParamZeros()

int Device::setParamZeros ( )

virtual

Set motor(s) zero(s) to actual encoder reading.

Returns: 0 on success, -1 on error

Warning: The improper use of this function could damage the device and invalidate the device warranty. Contact our support team (suppo.nosp@m.rt@q.nosp@m.brobo.nosp@m.tics.nosp@m..com) for more information.

Reimplemented in qbrobotics_research_api::qbSoftHandLegacyResearch, qbrobotics_research_api::qbmoveLegacyResearch, and qbrobotics_research_api::qbSoftHand2MotorsResearch.

Definition at line 1063 of file qbrobotics_research_api.cpp.

◆ storeFactoryDataMemory()

int Device::storeFactoryDataMemory ( )

virtual

Store the changed parameters on 7.X.X firmware devices in factory memory.

Warning: not use it in 6.X.X devices.

Returns: 0 on success, <0 on error

Warning: The improper use of this function could damage the device and invalidate the device warranty. Contact our support team (suppo.nosp@m.rt@q.nosp@m.brobo.nosp@m.tics.nosp@m..com) for more information.

Definition at line 1135 of file qbrobotics_research_api.cpp.

◆ storeUserDataMemory()

int Device::storeUserDataMemory ( )

virtual

Store the changed parameters on 7.X.X firmware devices in user memory.

Warning: not use it in 6.X.X devices.

Returns: 0 on success, <0 on error

Warning: The improper use of this function could damage the device and invalidate the device warranty. Contact our support team (suppo.nosp@m.rt@q.nosp@m.brobo.nosp@m.tics.nosp@m..com) for more information.

Definition at line 1124 of file qbrobotics_research_api.cpp.

Member Data Documentation

◆ communication_

std::shared_ptr<Communication> qbrobotics_research_api::Device::communication_

protected

Definition at line 853 of file qbrobotics_research_api.h.

◆ name_

std::string qbrobotics_research_api::Device::name_

protected

Definition at line 850 of file qbrobotics_research_api.h.

◆ params_

std::shared_ptr<Params> qbrobotics_research_api::Device::params_

protected

Definition at line 852 of file qbrobotics_research_api.h.

◆ serial_port_

std::string qbrobotics_research_api::Device::serial_port_

protected

Definition at line 851 of file qbrobotics_research_api.h.

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

Classes

Public Member Functions

Protected Attributes

Detailed Description

Constructor & Destructor Documentation

◆ Device() [1/3]

◆ Device() [2/3]

◆ Device() [3/3]

◆ ~Device()

Member Function Documentation

◆ getAccelerations()

◆ getControlReferences()

◆ getCurrents()

◆ getCurrentsAndPositions()

◆ getCycleTime()

◆ getInfo() [1/2]

◆ getInfo() [2/2]

◆ getMotorStates()

◆ getParamControlMode() [1/2]

◆ getParamControlMode() [2/2]

◆ getParamCurrentLimit() [1/2]

◆ getParamCurrentLimit() [2/2]

◆ getParamCurrentPID() [1/2]

◆ getParamCurrentPID() [2/2]

◆ getParamEncoderMultipliers() [1/2]

◆ getParamEncoderMultipliers() [2/2]

◆ getParamEncoderOffsets() [1/2]

◆ getParamEncoderOffsets() [2/2]

◆ getParamEncoderResolutions() [1/2]

◆ getParamEncoderResolutions() [2/2]

◆ getParameters() [1/2]

◆ getParameters() [2/2]

◆ getParamId() [1/2]

◆ getParamId() [2/2]

◆ getParamInputMode() [1/2]

◆ getParamInputMode() [2/2]

◆ getParamPositionLimits() [1/2]

◆ getParamPositionLimits() [2/2]

◆ getParamPositionMaxSteps() [1/2]

◆ getParamPositionMaxSteps() [2/2]

◆ getParamPositionPID() [1/2]

◆ getParamPositionPID() [2/2]

◆ getParams()

◆ getParamStartupActivation() [1/2]

◆ getParamStartupActivation() [2/2]

◆ getParamUsePositionLimits() [1/2]

◆ getParamUsePositionLimits() [2/2]

◆ getPositions()

◆ getVelocities()

◆ isQbmove()

◆ isSH2M()

◆ isSHPRO()

◆ ping()

◆ restoreFactoryDataMemory()

◆ restoreUserDataMemory()

◆ setBootloaderMode()

◆ setControlReferences()

◆ setControlReferencesAndWait()

◆ setMotorStates()

◆ setParamBaudrate()

◆ setParamControlMode()

◆ setParamCurrentLimit()

◆ setParamCurrentPID()

◆ setParamEncoderMultipliers()

◆ setParamEncoderOffsets()

◆ setParamEncoderResolutions()

◆ setParameter()

◆ setParamId()

◆ setParamInputMode()

◆ setParamPositionLimits()

◆ setParamPositionMaxSteps()

◆ setParamPositionPID()

◆ setParamStartupActivation()

◆ setParamUsePositionLimits()

◆ setParamZeros()

◆ storeFactoryDataMemory()

◆ storeUserDataMemory()

Member Data Documentation

◆ communication_

◆ name_