CanDriveItf.h
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00001 /****************************************************************
00002  *
00003  * Copyright (c) 2010
00004  *
00005  * Fraunhofer Institute for Manufacturing Engineering   
00006  * and Automation (IPA)
00007  *
00008  * +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
00009  *
00010  * Project name: care-o-bot
00011  * ROS stack name: cob_driver
00012  * ROS package name: cob_canopen_motor
00013  * Description:
00014  *                                                              
00015  * +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
00016  *                      
00017  * Author: Christian Connette, email:christian.connette@ipa.fhg.de
00018  * Supervised by: Christian Connette, email:christian.connette@ipa.fhg.de
00019  *
00020  * Date of creation: Feb 2009
00021  * ToDo:
00022  *
00023  * +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
00024  *
00025  * Redistribution and use in source and binary forms, with or without
00026  * modification, are permitted provided that the following conditions are met:
00027  *
00028  *     * Redistributions of source code must retain the above copyright
00029  *       notice, this list of conditions and the following disclaimer.
00030  *     * Redistributions in binary form must reproduce the above copyright
00031  *       notice, this list of conditions and the following disclaimer in the
00032  *       documentation and/or other materials provided with the distribution.
00033  *     * Neither the name of the Fraunhofer Institute for Manufacturing 
00034  *       Engineering and Automation (IPA) nor the names of its
00035  *       contributors may be used to endorse or promote products derived from
00036  *       this software without specific prior written permission.
00037  *
00038  * This program is free software: you can redistribute it and/or modify
00039  * it under the terms of the GNU Lesser General Public License LGPL as 
00040  * published by the Free Software Foundation, either version 3 of the 
00041  * License, or (at your option) any later version.
00042  * 
00043  * This program is distributed in the hope that it will be useful,
00044  * but WITHOUT ANY WARRANTY; without even the implied warranty of
00045  * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
00046  * GNU Lesser General Public License LGPL for more details.
00047  * 
00048  * You should have received a copy of the GNU Lesser General Public 
00049  * License LGPL along with this program. 
00050  * If not, see <http://www.gnu.org/licenses/>.
00051  *
00052  ****************************************************************/
00053 
00054 
00055 #ifndef CANDRIVEITF_INCLUDEDEF_H
00056 #define CANDRIVEITF_INCLUDEDEF_H
00057 
00058 //-----------------------------------------------
00059 #include <cob_generic_can/CanItf.h>
00060 #include <cob_canopen_motor/DriveParam.h>
00061 #include <cob_canopen_motor/SDOSegmented.h>
00062 //-----------------------------------------------
00063 
00068 class CanDriveItf
00069 {
00070 public:
00074         enum MotionType
00075         {
00076                 MOTIONTYPE_VELCTRL,
00077         MOTIONTYPE_TORQUECTRL,
00078                 MOTIONTYPE_POSCTRL
00079         };
00080 
00084         virtual void setCanItf(CanItf* pCanItf) = 0;
00085 
00090         virtual bool init() = 0;
00091         
00097         virtual bool isInitialized() = 0;
00098 
00103         virtual bool start() = 0;
00104 
00109         virtual bool stop() = 0;
00110 
00115         virtual bool reset() = 0;
00116 
00120         virtual bool shutdown() = 0;
00121 
00128         virtual bool disableBrake(bool bDisabled) = 0;
00129 
00134         virtual bool initHoming() = 0;
00135 
00140         virtual bool execHoming() = 0;
00141 
00145         virtual double getTimeToLastMsg() = 0;
00146 
00151         virtual bool getStatusLimitSwitch() = 0;
00152 
00160         virtual bool startWatchdog(bool bStarted) = 0;
00161 
00167         virtual bool evalReceivedMsg(CanMsg& msg) = 0;
00168 
00174         virtual bool evalReceivedMsg() = 0;
00175 
00181         virtual void setGearPosVelRadS(double dPosRad, double dVelRadS) = 0;
00182 
00187         virtual void setGearVelRadS(double dVelRadS) = 0;
00188 
00194         virtual bool setTypeMotion(int iType) = 0;
00195 
00199         virtual void getGearPosVelRadS(double* pdAngleGearRad, double* pdVelGearRadS) = 0;
00200 
00205         virtual void getGearDeltaPosVelRadS(double* pdDeltaAngleGearRad, double* pdVelGearRadS) = 0;
00206 
00210         virtual void getGearPosRad(double* pdPosGearRad) = 0;
00211 
00215         virtual void setDriveParam(DriveParam driveParam) = 0;
00216 
00220         virtual bool isError() = 0;
00221         
00225         virtual unsigned int getError() = 0;
00226 
00230         virtual void requestPosVel() = 0;
00231 
00235         virtual void requestStatus() = 0;
00236 
00240         virtual void getStatus(int* piStatus, int* piTempCel) = 0;
00241 
00245         virtual bool setEMStop() = 0;
00246 
00250         virtual bool resetEMStop() = 0;
00251 
00255         virtual void IntprtSetInt(int iDataLen, char cCmdChar1, char cCmdChar2, int iIndex, int iData) = 0;
00256 
00260     virtual     int setRecorder(int iFlag, int iParam = 0, std::string sParam = "/home/MyLog") = 0;
00261 
00265         virtual void requestMotorTorque() = 0;
00266         
00272         virtual void getMotorTorque(double* dTorqueNm) = 0;
00273     
00277     virtual void setMotorTorque(double dTorqueNm) = 0;
00278 };
00279 
00280 
00281 //-----------------------------------------------
00282 #endif
00283 
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cob_canopen_motor
Author(s): Christian Connette
autogenerated on Fri Mar 1 2013 17:46:48