Motor class. More...

#include <kmlMotBase.h>

Public Member Functions
bool	checkAngleInRange (double angle)
	check limits in encoder values
bool	checkEncoderInRange (int encoder)
void	dec (int dif, bool wait=false, int tolerance=100, long timeout=TM_ENDLESS)
	Decrements the motor specified by an index postion in encoder units.
void	decDegrees (double dif, bool wait=false, int tolerance=100, long timeout=TM_ENDLESS)
	Decrements the motor specified by an index postion in degrees.
const TMotAPS *	GetAPS ()
bool	GetBlocked ()
	Get the value of the blocked property.
const TMotCLB *	GetCLB ()
const TMotDYL *	GetDYL ()
int	GetEncoderMaxPos ()
	Returns the max Position of the Encoder.
int	GetEncoderMinPos ()
	Returns the min Position of the Encoder.
int	GetEncoderRange ()
	Returns Encoder Range of the Encoder.
int	GetEncoderTolerance ()
bool	GetFreedom ()
	Get the value of the freedom property.
const TMotGNL *	GetGNL ()
const TMotInit *	GetInitialParameters ()
void	getParameterOrLimit (int subcommand, byte R1, byte R2, byte *R3)
const TMotPVP *	GetPVP ()
const TMotSCP *	GetSCP ()
const TMotSFW *	GetSFW ()
const TMotTPS *	GetTPS ()
void	inc (int dif, bool wait=false, int tolerance=100, long timeout=TM_ENDLESS)
	Increments the motor specified by an index postion in encoder units.
void	incDegrees (double dif, bool wait=false, int tolerance=100, long timeout=TM_ENDLESS)
	Increments the motor specified by an index postion in degrees.
bool	init (CKatBase _own, const TMotDesc _motDesc, CCplBase protocol)
void	mov (int tar, bool wait=false, int tolerance=100, long timeout=TM_ENDLESS)
	Moves the motor specified by an index to a given target position in encoder units.
void	movDegrees (double tar, bool wait=false, int tolerance=100, long timeout=TM_ENDLESS)
	Moves the motor specified by an index to a given target position in degrees.
void	recvPVP ()
	receive data
void	recvSFW ()
	receive data
void	resetBlocked ()
	unblock the motor.
void	sendAPS (const TMotAPS *_aps)
	send data
void	sendSpline (short targetPosition, short duration, short p1, short p2, short p3, short p4)
void	sendTPS (const TMotTPS *_tps)
	send data
void	setAccelerationLimit (short acceleration)
void	setCalibrated (bool calibrated)
void	setCalibrationParameters (bool doCalibration, short order, TSearchDir direction, TMotCmdFlg motorFlagAfter, int encoderPositionAfter)
void	setControllerParameters (byte kSpeed, byte kPos, byte kI)
void	setCrashLimit (int limit)
void	setCrashLimitLinear (int limit_lin)
	Set the crash limit linear.
void	setDYL (TMotDYL _dyl)
void	setInitialParameters (double angleOffset, double angleRange, int encodersPerCycle, int encoderOffset, int rotationDirection)
void	setPositionCollisionLimit (int limit)
	Set the collision limit.
void	setPwmLimits (byte maxppwm, byte maxnpwm)
void	setSCP (TMotSCP _scp)
void	setSpeedCollisionLimit (int limit)
	Set the collision limit.
void	setSpeedLimit (short velocity)
void	setSpeedLimits (short positiveVelocity, short negativeVelocity)
	Set speed limits.
void	setTolerance (int tolerance)
void	waitForMotor (int tar, int encTolerance=100, short mode=0, int waitTimeout=TM_ENDLESS)
	Waits until the Motor has reached the given targen position.
virtual	~CMotBase ()
Protected Attributes
TMotCLB	_calibrationParameters
	calibration structure
TMotENL	_encoderLimits
	motor limits in encoder values
TMotInit	_initialParameters
TMotAPS	aps
	actual position
bool	blocked
	true if the motor was blocked due to a crash of the robot
TMotDYL	dyl
	dynamic limits
bool	freedom
	if it is set, it will move on a parallel movement
TMotGNL	gnl
	motor generals
CCplBase *	protocol
	protocol interface
TMotPVP	pvp
	reading motor parameters
TMotSCP	scp
	static controller parameters
TMotSFW	sfw
	slave firmware
TMotTPS	tps
	target position
Friends
class	CKatBase

Detailed Description

Motor class.

This class allows to control one motor; to control a motor it has to be initialized by using the init function. And the usage the internal allocated resources should be deallocated by using the 'free' method.

Definition at line 220 of file kmlMotBase.h.

Constructor & Destructor Documentation

virtual CMotBase::~CMotBase ( ) [inline, virtual]

Definition at line 265 of file kmlMotBase.h.

Member Function Documentation

bool CMotBase::checkAngleInRange ( double angle )

check limits in encoder values

Definition at line 362 of file kmlMotBase.cpp.

bool CMotBase::checkEncoderInRange ( int encoder )

Definition at line 365 of file kmlMotBase.cpp.

void CMotBase::dec	(	int	dif,
		bool	wait = `false`,
		int	tolerance = `100`,
		long	timeout = `TM_ENDLESS`
	)

Decrements the motor specified by an index postion in encoder units.

Definition at line 375 of file kmlMotBase.cpp.

void CMotBase::decDegrees	(	double	dif,
		bool	wait = `false`,
		int	tolerance = `100`,
		long	timeout = `TM_ENDLESS`
	)

Decrements the motor specified by an index postion in degrees.

Definition at line 434 of file kmlMotBase.cpp.

const TMotAPS* CMotBase::GetAPS ( ) [inline]

Definition at line 242 of file kmlMotBase.h.

bool CMotBase::GetBlocked ( ) [inline]

Get the value of the blocked property.

Definition at line 259 of file kmlMotBase.h.

const TMotCLB* CMotBase::GetCLB ( ) [inline]

Definition at line 248 of file kmlMotBase.h.

const TMotDYL* CMotBase::GetDYL ( ) [inline]

Definition at line 245 of file kmlMotBase.h.

int CMotBase::GetEncoderMaxPos ( ) [inline]

Returns the max Position of the Encoder.

Definition at line 253 of file kmlMotBase.h.

int CMotBase::GetEncoderMinPos ( ) [inline]

Returns the min Position of the Encoder.

Definition at line 252 of file kmlMotBase.h.

int CMotBase::GetEncoderRange ( ) [inline]

Returns Encoder Range of the Encoder.

Definition at line 254 of file kmlMotBase.h.

int CMotBase::GetEncoderTolerance ( ) [inline]

Definition at line 251 of file kmlMotBase.h.

bool CMotBase::GetFreedom ( ) [inline]

Get the value of the freedom property.

Definition at line 257 of file kmlMotBase.h.

const TMotGNL* CMotBase::GetGNL ( ) [inline]

Definition at line 241 of file kmlMotBase.h.

const TMotInit* CMotBase::GetInitialParameters ( ) [inline]

Definition at line 250 of file kmlMotBase.h.

void CMotBase::getParameterOrLimit	(	int	subcommand,
		byte *	R1,
		byte *	R2,
		byte *	R3
	)

Get parameters or limits

Parameters:

subcommand	255-249;245, see katana user manual chapter 8 firmware commands for details
R1	pointer to store first byte of answer
R2	pointer to store second byte of answer
R3	pointer to store third byte of answer

Definition at line 274 of file kmlMotBase.cpp.

const TMotPVP* CMotBase::GetPVP ( ) [inline]

Definition at line 246 of file kmlMotBase.h.

const TMotSCP* CMotBase::GetSCP ( ) [inline]

Definition at line 244 of file kmlMotBase.h.

const TMotSFW* CMotBase::GetSFW ( ) [inline]

Definition at line 247 of file kmlMotBase.h.

const TMotTPS* CMotBase::GetTPS ( ) [inline]

Definition at line 243 of file kmlMotBase.h.

void CMotBase::inc	(	int	dif,
		bool	wait = `false`,
		int	tolerance = `100`,
		long	timeout = `TM_ENDLESS`
	)

Increments the motor specified by an index postion in encoder units.

Definition at line 370 of file kmlMotBase.cpp.

void CMotBase::incDegrees	(	double	dif,
		bool	wait = `false`,
		int	tolerance = `100`,
		long	timeout = `TM_ENDLESS`
	)

Increments the motor specified by an index postion in degrees.

Definition at line 427 of file kmlMotBase.cpp.

bool CMotBase::init	(	CKatBase *	_own,
		const TMotDesc	_motDesc,
		CCplBase *	protocol
	)

Definition at line 20 of file kmlMotBase.cpp.

void CMotBase::mov	(	int	tar,
		bool	wait = `false`,
		int	tolerance = `100`,
		long	timeout = `TM_ENDLESS`
	)

Moves the motor specified by an index to a given target position in encoder units.

Definition at line 380 of file kmlMotBase.cpp.

void CMotBase::movDegrees	(	double	tar,
		bool	wait = `false`,
		int	tolerance = `100`,
		long	timeout = `TM_ENDLESS`
	)

Moves the motor specified by an index to a given target position in degrees.

Definition at line 441 of file kmlMotBase.cpp.

void CMotBase::recvPVP ( )

receive data

Definition at line 90 of file kmlMotBase.cpp.

void CMotBase::recvSFW ( )

receive data

Definition at line 109 of file kmlMotBase.cpp.

void CMotBase::resetBlocked ( )

unblock the motor.

Definition at line 35 of file kmlMotBase.cpp.

void CMotBase::sendAPS ( const TMotAPS * _aps )

send data

Definition at line 53 of file kmlMotBase.cpp.

void CMotBase::sendSpline	(	short	targetPosition,
		short	duration,
		short	p1,
		short	p2,
		short	p3,
		short	p4
	)

Send one spline to the motor

Parameters:

duration Duration has to be given in 10ms units

Definition at line 299 of file kmlMotBase.cpp.

void CMotBase::sendTPS ( const TMotTPS * _tps )

send data

Definition at line 73 of file kmlMotBase.cpp.

void CMotBase::setAccelerationLimit ( short acceleration )

Set the acceleration limits

Definition at line 149 of file kmlMotBase.cpp.

void CMotBase::setCalibrated ( bool calibrated )

Definition at line 353 of file kmlMotBase.cpp.

void CMotBase::setCalibrationParameters	(	bool	doCalibration,
		short	order,
		TSearchDir	direction,
		TMotCmdFlg	motorFlagAfter,
		int	encoderPositionAfter
	)

Definition at line 343 of file kmlMotBase.cpp.

void CMotBase::setControllerParameters	(	byte	kSpeed,
		byte	kPos,
		byte	kI
	)

Set the controller parameters

Definition at line 186 of file kmlMotBase.cpp.

void CMotBase::setCrashLimit ( int limit )

Set the crash limit

Definition at line 206 of file kmlMotBase.cpp.

void CMotBase::setCrashLimitLinear ( int limit_lin )

Set the crash limit linear.

Definition at line 224 of file kmlMotBase.cpp.

void CMotBase::setDYL ( TMotDYL _dyl ) [inline]

Definition at line 280 of file kmlMotBase.h.

void CMotBase::setInitialParameters	(	double	angleOffset,
		double	angleRange,
		int	encodersPerCycle,
		int	encoderOffset,
		int	rotationDirection
	)

Definition at line 324 of file kmlMotBase.cpp.

void CMotBase::setPositionCollisionLimit ( int limit )

Set the collision limit.

Definition at line 259 of file kmlMotBase.cpp.

void CMotBase::setPwmLimits	(	byte	maxppwm,
		byte	maxnpwm
	)

Set the PWM limits (for the drive controller)

Definition at line 165 of file kmlMotBase.cpp.

void CMotBase::setSCP ( TMotSCP _scp ) [inline]

Definition at line 279 of file kmlMotBase.h.

void CMotBase::setSpeedCollisionLimit ( int limit )

Set the collision limit.

Definition at line 243 of file kmlMotBase.cpp.

void CMotBase::setSpeedLimit ( short velocity ) [inline]

Definition at line 331 of file kmlMotBase.h.

void CMotBase::setSpeedLimits	(	short	positiveVelocity,
		short	negativeVelocity
	)

Set speed limits.

Definition at line 130 of file kmlMotBase.cpp.

void CMotBase::setTolerance ( int tolerance )

Definition at line 358 of file kmlMotBase.cpp.

void CMotBase::waitForMotor	(	int	tar,
		int	encTolerance = `100`,
		short	mode = `0`,
		int	waitTimeout = `TM_ENDLESS`
	)

Waits until the Motor has reached the given targen position.

Definition at line 396 of file kmlMotBase.cpp.

Friends And Related Function Documentation

friend class CKatBase [friend]

Definition at line 222 of file kmlMotBase.h.

Member Data Documentation

TMotCLB CMotBase::_calibrationParameters [protected]

calibration structure

Definition at line 233 of file kmlMotBase.h.

TMotENL CMotBase::_encoderLimits [protected]

motor limits in encoder values

Definition at line 234 of file kmlMotBase.h.

TMotInit CMotBase::_initialParameters [protected]

Definition at line 235 of file kmlMotBase.h.

TMotAPS CMotBase::aps [protected]

actual position

Definition at line 227 of file kmlMotBase.h.

bool CMotBase::blocked [protected]

true if the motor was blocked due to a crash of the robot

Definition at line 237 of file kmlMotBase.h.

TMotDYL CMotBase::dyl [protected]

dynamic limits

Definition at line 230 of file kmlMotBase.h.

bool CMotBase::freedom [protected]

if it is set, it will move on a parallel movement

Definition at line 236 of file kmlMotBase.h.

TMotGNL CMotBase::gnl [protected]

motor generals

Definition at line 226 of file kmlMotBase.h.

CCplBase* CMotBase::protocol [protected]

protocol interface

Definition at line 262 of file kmlMotBase.h.

TMotPVP CMotBase::pvp [protected]

reading motor parameters

Definition at line 231 of file kmlMotBase.h.

TMotSCP CMotBase::scp [protected]

static controller parameters

Definition at line 229 of file kmlMotBase.h.

TMotSFW CMotBase::sfw [protected]

slave firmware

Definition at line 232 of file kmlMotBase.h.

TMotTPS CMotBase::tps [protected]

target position

Definition at line 228 of file kmlMotBase.h.

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

Public Member Functions

Protected Attributes

Friends

Detailed Description

Constructor & Destructor Documentation

Member Function Documentation

Friends And Related Function Documentation

Member Data Documentation