#include <PowerCubeCtrl.h>

Public Types
enum	PC_CTRL_STATUS { PC_CTRL_OK = 0, PC_CTRL_NOT_HOMED = -1, PC_CTRL_ERR = -2, PC_CTRL_POW_VOLT_ERR = -3 }
Public Member Functions
bool	Close ()
	Close.
bool	doHoming ()
	Waits until all Modules are homed.
std::vector< double >	getAccelerations ()
	Gets the current accelerations.
std::string	getErrorMessage () const
	Get error message.
double	getHorizon ()
	Gets the horizon (sec).
PC_CTRL_STATUS	getPC_Status () const
	Get PC_Status message.
std::vector< double >	getPositions ()
	Gets the current positions.
bool	getStatus (PC_CTRL_STATUS &status, std::vector< std::string > &errorMessages)
	Gets the status of the modules.
std::vector< double >	getVelocities ()
	Gets the current velcities.
std::vector< unsigned long >	getVersion ()
	Gets the firmware version of the modules.
bool	Init (PowerCubeCtrlParams *params)
	Initializing.
bool	isInitialized () const
	Checking if is initialized.
bool	MoveJointSpaceSync (const std::vector< double > &angles)
	Send position goals to powercubes, the final angles will be reached simultaneously.
bool	MoveVel (const std::vector< double > &velocities)
	Moves all cubes by the given velocities.
	PowerCubeCtrl (PowerCubeCtrlParams *params)
	Constructor.
bool	Recover ()
	Recovery after emergency stop or power supply failure.
bool	setASyncMotion ()
	Configure powercubes to start all movements asynchronously.
bool	setHorizon (double horizon)
	Sets the horizon (sec).
bool	setMaxAcceleration (double acceleration)
	Sets the maximum angular velocity (rad/s) for the Joints, use with care!
bool	setMaxAcceleration (const std::vector< double > &accelerations)
	Sets the maximum angular acceleration (rad/s^2) for the Joints, use with care!
bool	setMaxVelocity (double velocity)
	Sets the maximum angular velocity (rad/s) for the Joints, use with care!
bool	setMaxVelocity (const std::vector< double > &velocities)
	Sets the maximum angular velocity (rad/s) for the Joints, use with care!
bool	setSyncMotion ()
	Configure powercubes to start all movements synchronously.
bool	statusMoving ()
	Returns true if any of the Joints are still moving.
bool	Stop ()
	Stops the Manipulator immediately.
bool	updateStates ()
	Returns the state of all modules.
void	updateVelocities (std::vector< double > pos_temp, double delta_t)
	~PowerCubeCtrl ()
	Destructor.
Protected Attributes
std::vector< double >	m_accelerations
std::deque< std::vector< double > >	m_cached_pos
bool	m_CANDeviceOpened
int	m_DeviceHandle
std::vector< unsigned char >	m_dios
std::string	m_ErrorMessage
double	m_horizon
bool	m_Initialized
ros::Time	m_last_time_pub
std::vector< std::string >	m_ModuleTypes
pthread_mutex_t	m_mutex
PowerCubeCtrlParams *	m_params
PC_CTRL_STATUS	m_pc_status
std::vector< double >	m_positions
std::vector< unsigned long >	m_status
std::vector< double >	m_velocities
std::vector< unsigned long >	m_version

Detailed Description

Definition at line 75 of file PowerCubeCtrl.h.

Member Enumeration Documentation

enum PowerCubeCtrl::PC_CTRL_STATUS

Enumerator:

PC_CTRL_OK
PC_CTRL_NOT_HOMED
PC_CTRL_ERR
PC_CTRL_POW_VOLT_ERR

Definition at line 86 of file PowerCubeCtrl.h.

Constructor & Destructor Documentation

PowerCubeCtrl::PowerCubeCtrl ( PowerCubeCtrlParams * params )

Constructor.

Definition at line 78 of file PowerCubeCtrl.cpp.

PowerCubeCtrl::~PowerCubeCtrl ( )

Destructor.

Definition at line 97 of file PowerCubeCtrl.cpp.

Member Function Documentation

bool PowerCubeCtrl::Close ( void )

Close.

Close CAN devices.

Definition at line 429 of file PowerCubeCtrl.cpp.

bool PowerCubeCtrl::doHoming ( )

Waits until all Modules are homed.

Does homing for all Modules.

Homes only Schunk PW-Modules or PRL-Modules don't need to be homed.

PRL-Modules are ignored. PW-Modules are checked if they are homed. If not,homeing is executed.

wait until all modules are homed

start homing

timeout watchdog for homing

check result

Definition at line 1359 of file PowerCubeCtrl.cpp.

std::vector< double > PowerCubeCtrl::getAccelerations ( )

Gets the current accelerations.

Gets the current positions.

ToDo: calculate new accelerations before returning

Definition at line 1348 of file PowerCubeCtrl.cpp.

std::string PowerCubeCtrl::getErrorMessage ( ) const [inline]

Get error message.

Definition at line 111 of file PowerCubeCtrl.h.

double PowerCubeCtrl::getHorizon ( )

Gets the horizon (sec).

The horizon is the maximum step size which will be commanded to the powercube chain. In case of a failure this is the time the powercube chain will continue to move until it is stopped.

Definition at line 1077 of file PowerCubeCtrl.cpp.

PC_CTRL_STATUS PowerCubeCtrl::getPC_Status ( ) const [inline]

Get PC_Status message.

Definition at line 119 of file PowerCubeCtrl.h.

std::vector< double > PowerCubeCtrl::getPositions ( )

Gets the current positions.

Definition at line 1331 of file PowerCubeCtrl.cpp.

bool PowerCubeCtrl::getStatus	(	PC_CTRL_STATUS &	status,
		std::vector< std::string > &	errorMessages
	)

Gets the status of the modules.

Definition at line 1218 of file PowerCubeCtrl.cpp.

std::vector< double > PowerCubeCtrl::getVelocities ( )

Gets the current velcities.

Gets the current velocities.

ToDo: calculate new velocities before returning

Definition at line 1339 of file PowerCubeCtrl.cpp.

std::vector< unsigned long > PowerCubeCtrl::getVersion ( )

Gets the firmware version of the modules.

Definition at line 1309 of file PowerCubeCtrl.cpp.

bool PowerCubeCtrl::Init ( PowerCubeCtrlParams * params )

Initializing.

ToDo: Check brief.

Initializing

Setting paramters initialized by PowerCubeCtrlParams.h

Output of current settings in the terminal

open device

reset all modules of the chain

make sure m_IdModules is clear of Elements:

check number of modules connected to the bus

Check if the modules are connected

retrieve serial number

retrieve version number

retrieve defined gear ratio

retrieve axis type (linear or rotational)

find out module_type

otherwise success

check if modules are in normal state

Set angle offsets to hardware

Set limits to hardware

Set max velocity to hardware

Set max acceleration to hardware

set synchronous or asynchronous movements

Definition at line 117 of file PowerCubeCtrl.cpp.

bool PowerCubeCtrl::isInitialized ( ) const [inline]

Checking if is initialized.

Definition at line 103 of file PowerCubeCtrl.h.

bool PowerCubeCtrl::MoveJointSpaceSync ( const std::vector< double > & target )

Send position goals to powercubes, the final angles will be reached simultaneously.

ToDo: Check comments.

Move joints synchronous

Adjusting velocity of all joints to reach the final angules at the same time

calculate which joint takes the longest time to reach goal

determine the joint index that has the greatest value for time

total time:

calculate velocity and acceleration for all joints:

Send motion commands to hardware

Definition at line 455 of file PowerCubeCtrl.cpp.

bool PowerCubeCtrl::MoveVel ( const std::vector< double > & velocities )

Moves all cubes by the given velocities.

getting paramerters

getting limits

check dimensions

check velocity limit

check position limits

Types: PRL, PW, other

error handling

Definition at line 554 of file PowerCubeCtrl.cpp.

bool PowerCubeCtrl::Recover ( )

Recovery after emergency stop or power supply failure.

Recovers the manipulator after an emergency stop.

Set angle offsets to hardware

Set max velocity to hardware

Set max acceleration to hardware

set synchronous or asynchronous movements

modules successfully recovered

Definition at line 830 of file PowerCubeCtrl.cpp.

bool PowerCubeCtrl::setASyncMotion ( )

Configure powercubes to start all movements asynchronously.

Tells the Modules to start immediately

get config

set config to asynchronous

Definition at line 1126 of file PowerCubeCtrl.cpp.

bool PowerCubeCtrl::setHorizon ( double horizon )

Sets the horizon (sec).

The horizon is the maximum step size which will be commanded to the powercube chain. In case of a failure this is the time the powercube chain will continue to move until it is stopped.

Definition at line 1064 of file PowerCubeCtrl.cpp.

bool PowerCubeCtrl::setMaxAcceleration ( double maxAcceleration )

Sets the maximum angular velocity (rad/s) for the Joints, use with care!

Sets the maximum angular acceleration (rad/s^2) for the Joints, use with care!

A Value of 0.5 is already pretty fast, you probably don't want anything more than one...

Definition at line 1003 of file PowerCubeCtrl.cpp.

bool PowerCubeCtrl::setMaxAcceleration ( const std::vector< double > & accelerations )

Sets the maximum angular acceleration (rad/s^2) for the Joints, use with care!

Definition at line 1033 of file PowerCubeCtrl.cpp.

bool PowerCubeCtrl::setMaxVelocity ( double maxVelocity )

Sets the maximum angular velocity (rad/s) for the Joints, use with care!

A Value of 0.5 is already pretty fast, you probably don't want anything more than one...