#include <qbmove_research_api.h>

Inheritance diagram for qbrobotics_research_api::qbmoveLegacyResearch:

Classes
class	Params

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

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

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

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

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

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

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

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

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

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

	~qbmoveLegacyResearch () override=default

Public Member Functions inherited from qbrobotics_research_api::qbmoveResearch
int	computeAndStoreMaximumStiffness ()

int	getParamRateLimiter ()

int	getParamRateLimiter (uint8_t &rate_limiter)

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

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

	qbmoveResearch (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	setParamRateLimiter (uint8_t rate_limiter)

int	setPositionAndStiffnessReferences (int16_t position, int16_t stiffness)

	~qbmoveResearch () 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	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	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	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	setParamEncoderResolutions (const std::vector< uint8_t > &encoder_resolutions)
	Set the encoder resolutions parameters 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	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 84 of file qbmove_research_api.h.

Constructor & Destructor Documentation

◆ qbmoveLegacyResearch() [1/2]

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

explicit

Definition at line 93 of file qbmove_research_api.cpp.

◆ qbmoveLegacyResearch() [2/2]

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

explicit

Definition at line 96 of file qbmove_research_api.cpp.

◆ ~qbmoveLegacyResearch()

qbrobotics_research_api::qbmoveLegacyResearch::~qbmoveLegacyResearch ( )

overridedefault

Member Function Documentation

◆ getControlReferences()

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

overridevirtual

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 from qbrobotics_research_api::Device.

Definition at line 107 of file qbmove_research_api.cpp.

◆ getParamEncoderOffsets() [1/2]

int qbmoveLegacyResearch::getParamEncoderOffsets ( )

overridevirtual

Update the device encoder offsets in the class variable param_.

Returns: 0 on success, -1 on error

Reimplemented from qbrobotics_research_api::Device.

Definition at line 120 of file qbmove_research_api.cpp.

◆ getParamEncoderOffsets() [2/2]

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

overridevirtual

Get the encoder offsets parameters.

Parameters

[out] encoder_offsets

Returns: 0 on success, -1 on error

Reimplemented from qbrobotics_research_api::Device.

Definition at line 124 of file qbmove_research_api.cpp.

◆ setMotorStates()

int qbmoveLegacyResearch::setMotorStates ( bool motor_state )

overridevirtual

Activate or deactivate the motor(s)

Parameters

motor_state the desired motor(s) state(s)

Returns: 0 on success, -1 on error

Reimplemented from qbrobotics_research_api::Device.

Definition at line 114 of file qbmove_research_api.cpp.

◆ setParamEncoderOffsets()

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

overridevirtual

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 from qbrobotics_research_api::Device.

Definition at line 142 of file qbmove_research_api.cpp.

◆ setParameter()

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

overridevirtual

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 from qbrobotics_research_api::Device.

Definition at line 99 of file qbmove_research_api.cpp.

◆ setParamId()

int qbmoveLegacyResearch::setParamId ( uint8_t id )

overridevirtual

Set the ID of the device.

Parameters

id	desired device ID

Returns: 0 on success, < 0 on error

Reimplemented from qbrobotics_research_api::Device.

Definition at line 131 of file qbmove_research_api.cpp.

◆ setParamZeros()

int qbmoveLegacyResearch::setParamZeros ( )

overridevirtual

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 from qbrobotics_research_api::Device.

Definition at line 149 of file qbmove_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

◆ qbmoveLegacyResearch() [1/2]

◆ qbmoveLegacyResearch() [2/2]

◆ ~qbmoveLegacyResearch()

Member Function Documentation

◆ getControlReferences()

◆ getParamEncoderOffsets() [1/2]

◆ getParamEncoderOffsets() [2/2]

◆ setMotorStates()

◆ setParamEncoderOffsets()

◆ setParameter()

◆ setParamId()

◆ setParamZeros()