#include <qbsofthand_research_api.h>

Inheritance diagram for qbrobotics_research_api::qbSoftHandResearch:

Classes
class	Params

Public Member Functions
int	getEMGs (std::vector< int16_t > &emg_values)

int	getJoystick (std::vector< int16_t > &joystick_values)

int	getParamCurrentLookupTable ()

int	getParamCurrentLookupTable (std::vector< float > &current_lookup_table)

int	getParamEMGMaxValues ()

int	getParamEMGMaxValues (std::vector< uint32_t > &emg_max_value)

int	getParamEMGSpeed ()

int	getParamEMGSpeed (uint8_t &emg_speed)

int	getParamEMGThresholds ()

int	getParamEMGThresholds (std::vector< uint16_t > &emg_thresholds)

int	getParamHandleRatio ()

int	getParamHandleRatio (int8_t &handle_ratio)

int	getParamRateLimiter ()

int	getParamRateLimiter (uint8_t &rate_limiter)

int	getParamUseDoubleEncoder ()

int	getParamUseDoubleEncoder (uint8_t &use_double_encoder)

int	getParamUseEMGCalibration ()

int	getParamUseEMGCalibration (uint8_t &use_emg_calibration)

int	getParamUsePWMRescaling ()

int	getParamUsePWMRescaling (uint8_t &use_pwm_rescaling)

int	openCloseCycles (uint16_t speed, uint16_t cycles)

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

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

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

int	setParamCurrentLookupTable (const std::vector< float > &current_lookup_table)

int	setParamEMGMaxValues (const std::vector< uint32_t > &emg_max_value)

int	setParamEMGSpeed (uint8_t emg_speed)

int	setParamEMGThresholds (const std::vector< uint16_t > &emg_thresholds)

int	setParamHandleRatio (int8_t handle_ratio)

int	setParamRateLimiter (uint8_t rate_limiter)

int	setParamUseDoubleEncoder (uint8_t use_double_encoder)

int	setParamUseEMGCalibration (uint8_t use_emg_calibration)

int	setParamUsePWMRescaling (uint8_t use_pwm_rescaling)

	~qbSoftHandResearch () override=default

Public Member Functions inherited from qbrobotics_research_api::Device
	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

Additional Inherited Members
Protected Attributes inherited from qbrobotics_research_api::Device
std::shared_ptr< Communication >	communication_

std::string	name_

std::shared_ptr< Params >	params_

std::string	serial_port_

Detailed Description

Definition at line 60 of file qbsofthand_research_api.h.

Constructor & Destructor Documentation

◆ qbSoftHandResearch() [1/3]

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

explicit

Definition at line 45 of file qbsofthand_research_api.cpp.

◆ qbSoftHandResearch() [2/3]

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

explicit

Definition at line 48 of file qbsofthand_research_api.cpp.

◆ qbSoftHandResearch() [3/3]

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

explicit

Definition at line 51 of file qbsofthand_research_api.cpp.

◆ ~qbSoftHandResearch()

qbrobotics_research_api::qbSoftHandResearch::~qbSoftHandResearch ( )

overridedefault

Member Function Documentation

◆ getEMGs()

int qbSoftHandResearch::getEMGs ( std::vector< int16_t > & emg_values )

Definition at line 63 of file qbsofthand_research_api.cpp.

◆ getJoystick()

int qbSoftHandResearch::getJoystick ( std::vector< int16_t > & joystick_values )

Definition at line 72 of file qbsofthand_research_api.cpp.

◆ getParamCurrentLookupTable() [1/2]

int qbSoftHandResearch::getParamCurrentLookupTable ( )

Definition at line 172 of file qbsofthand_research_api.cpp.

◆ getParamCurrentLookupTable() [2/2]

int qbSoftHandResearch::getParamCurrentLookupTable ( std::vector< float > & current_lookup_table )

Definition at line 176 of file qbsofthand_research_api.cpp.

◆ getParamEMGMaxValues() [1/2]

int qbSoftHandResearch::getParamEMGMaxValues ( )

Definition at line 107 of file qbsofthand_research_api.cpp.

◆ getParamEMGMaxValues() [2/2]

int qbSoftHandResearch::getParamEMGMaxValues ( std::vector< uint32_t > & emg_max_value )

Definition at line 111 of file qbsofthand_research_api.cpp.

◆ getParamEMGSpeed() [1/2]

int qbSoftHandResearch::getParamEMGSpeed ( )

Definition at line 120 of file qbsofthand_research_api.cpp.

◆ getParamEMGSpeed() [2/2]

int qbSoftHandResearch::getParamEMGSpeed ( uint8_t & emg_speed )

Definition at line 124 of file qbsofthand_research_api.cpp.

◆ getParamEMGThresholds() [1/2]

int qbSoftHandResearch::getParamEMGThresholds ( )

Definition at line 94 of file qbsofthand_research_api.cpp.

◆ getParamEMGThresholds() [2/2]

int qbSoftHandResearch::getParamEMGThresholds ( std::vector< uint16_t > & emg_thresholds )

Definition at line 98 of file qbsofthand_research_api.cpp.

◆ getParamHandleRatio() [1/2]

int qbSoftHandResearch::getParamHandleRatio ( )

Definition at line 146 of file qbsofthand_research_api.cpp.

◆ getParamHandleRatio() [2/2]

int qbSoftHandResearch::getParamHandleRatio ( int8_t & handle_ratio )

Definition at line 150 of file qbsofthand_research_api.cpp.

◆ getParamRateLimiter() [1/2]

int qbSoftHandResearch::getParamRateLimiter ( )

Definition at line 185 of file qbsofthand_research_api.cpp.

◆ getParamRateLimiter() [2/2]

int qbSoftHandResearch::getParamRateLimiter ( uint8_t & rate_limiter )

Definition at line 189 of file qbsofthand_research_api.cpp.

◆ getParamUseDoubleEncoder() [1/2]

int qbSoftHandResearch::getParamUseDoubleEncoder ( )

Definition at line 133 of file qbsofthand_research_api.cpp.

◆ getParamUseDoubleEncoder() [2/2]

int qbSoftHandResearch::getParamUseDoubleEncoder ( uint8_t & use_double_encoder )

Definition at line 137 of file qbsofthand_research_api.cpp.

◆ getParamUseEMGCalibration() [1/2]

int qbSoftHandResearch::getParamUseEMGCalibration ( )

Definition at line 81 of file qbsofthand_research_api.cpp.

◆ getParamUseEMGCalibration() [2/2]

int qbSoftHandResearch::getParamUseEMGCalibration ( uint8_t & use_emg_calibration )

Definition at line 85 of file qbsofthand_research_api.cpp.

◆ getParamUsePWMRescaling() [1/2]

int qbSoftHandResearch::getParamUsePWMRescaling ( )

Definition at line 159 of file qbsofthand_research_api.cpp.

◆ getParamUsePWMRescaling() [2/2]

int qbSoftHandResearch::getParamUsePWMRescaling ( uint8_t & use_pwm_rescaling )

Definition at line 163 of file qbsofthand_research_api.cpp.

◆ openCloseCycles()

int qbSoftHandResearch::openCloseCycles	(	uint16_t	speed,
		uint16_t	cycles
	)

Definition at line 54 of file qbsofthand_research_api.cpp.

◆ setParamCurrentLookupTable()

int qbSoftHandResearch::setParamCurrentLookupTable ( const std::vector< float > & current_lookup_table )

Definition at line 254 of file qbsofthand_research_api.cpp.

◆ setParamEMGMaxValues()

int qbSoftHandResearch::setParamEMGMaxValues ( const std::vector< uint32_t > & emg_max_value )

Definition at line 214 of file qbsofthand_research_api.cpp.

◆ setParamEMGSpeed()

int qbSoftHandResearch::setParamEMGSpeed ( uint8_t emg_speed )

Definition at line 222 of file qbsofthand_research_api.cpp.

◆ setParamEMGThresholds()

int qbSoftHandResearch::setParamEMGThresholds ( const std::vector< uint16_t > & emg_thresholds )

Definition at line 206 of file qbsofthand_research_api.cpp.

◆ setParamHandleRatio()

int qbSoftHandResearch::setParamHandleRatio ( int8_t handle_ratio )

Definition at line 238 of file qbsofthand_research_api.cpp.

◆ setParamRateLimiter()

int qbSoftHandResearch::setParamRateLimiter ( uint8_t rate_limiter )

Definition at line 262 of file qbsofthand_research_api.cpp.

◆ setParamUseDoubleEncoder()

int qbSoftHandResearch::setParamUseDoubleEncoder ( uint8_t use_double_encoder )

Definition at line 230 of file qbsofthand_research_api.cpp.

◆ setParamUseEMGCalibration()

int qbSoftHandResearch::setParamUseEMGCalibration ( uint8_t use_emg_calibration )

Definition at line 198 of file qbsofthand_research_api.cpp.

◆ setParamUsePWMRescaling()

int qbSoftHandResearch::setParamUsePWMRescaling ( uint8_t use_pwm_rescaling )

Definition at line 246 of file qbsofthand_research_api.cpp.

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

Classes

Public Member Functions

Additional Inherited Members

Detailed Description

Constructor & Destructor Documentation

◆ qbSoftHandResearch() [1/3]

◆ qbSoftHandResearch() [2/3]

◆ qbSoftHandResearch() [3/3]

◆ ~qbSoftHandResearch()

Member Function Documentation

◆ getEMGs()

◆ getJoystick()

◆ getParamCurrentLookupTable() [1/2]

◆ getParamCurrentLookupTable() [2/2]

◆ getParamEMGMaxValues() [1/2]

◆ getParamEMGMaxValues() [2/2]

◆ getParamEMGSpeed() [1/2]

◆ getParamEMGSpeed() [2/2]

◆ getParamEMGThresholds() [1/2]

◆ getParamEMGThresholds() [2/2]

◆ getParamHandleRatio() [1/2]

◆ getParamHandleRatio() [2/2]

◆ getParamRateLimiter() [1/2]

◆ getParamRateLimiter() [2/2]

◆ getParamUseDoubleEncoder() [1/2]

◆ getParamUseDoubleEncoder() [2/2]

◆ getParamUseEMGCalibration() [1/2]

◆ getParamUseEMGCalibration() [2/2]

◆ getParamUsePWMRescaling() [1/2]

◆ getParamUsePWMRescaling() [2/2]

◆ openCloseCycles()

◆ setParamCurrentLookupTable()

◆ setParamEMGMaxValues()

◆ setParamEMGSpeed()

◆ setParamEMGThresholds()

◆ setParamHandleRatio()

◆ setParamRateLimiter()

◆ setParamUseDoubleEncoder()

◆ setParamUseEMGCalibration()

◆ setParamUsePWMRescaling()