AmtecProtocolArm Class Reference

#include <AmtecProtocolArm.h>

Inheritance diagram for AmtecProtocolArm:

List of all members.

Public Member Functions
virtual int	ackJoint (IDType id)
	AmtecProtocolArm (IDType id_offset=20)
virtual int	emergencyStopJoint (IDType id)
const AmtecManipulator &	getManipulator () const
virtual float	getMaxCurrent (IDType id)
virtual void	getModuleStatus (IDType module_id, uint8_t &referenced, uint8_t &moving, uint8_t &prog_mode, uint8_t &warning, uint8_t &error, uint8_t &brake, uint8_t &move_end, uint8_t &pos_reached, uint8_t &error_code, float &current)
virtual float	getPosition (IDType id)
virtual float	getVelocity (IDType id)
virtual void	init ()
virtual int	movePosition (IDType id, float position)
virtual int	movePositionDuration (IDType id, float position, uint16_t msecs)
virtual int	moveVelocity (IDType id, float velocity)
virtual int	normalStopJoint (IDType id)
virtual int	refJoint (IDType id)
virtual int	setAcceleration (IDType id, float acceleration)
virtual int	setCurrent (IDType id, float current)
virtual int	setVelocity (IDType id, float velocity)
Protected Attributes
AmtecManipulator	manipulator_

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Detailed Description

Definition at line 20 of file AmtecProtocolArm.h.

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Constructor & Destructor Documentation

AmtecProtocolArm::AmtecProtocolArm

(

IDType

id_offset = 20

)

[inline]

Definition at line 22 of file AmtecProtocolArm.h.

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Member Function Documentation

virtual int AmtecProtocolArm::ackJoint

(

IDType

id

)

[inline, virtual]

Implements RobotArm.

Reimplemented in LWA3ArmUASHH.

Definition at line 46 of file AmtecProtocolArm.h.

virtual int AmtecProtocolArm::emergencyStopJoint

(

IDType

id

)

[inline, virtual]

Implements RobotArm.

Definition at line 37 of file AmtecProtocolArm.h.

const AmtecManipulator& AmtecProtocolArm::getManipulator

(

)

const [inline]

Definition at line 107 of file AmtecProtocolArm.h.

virtual float AmtecProtocolArm::getMaxCurrent

(

IDType

id

)

[inline, virtual]

Implements RobotArm.

Definition at line 61 of file AmtecProtocolArm.h.

virtual void AmtecProtocolArm::getModuleStatus	(	IDType	module_id,
		uint8_t &	referenced,
		uint8_t &	moving,
		uint8_t &	prog_mode,
		uint8_t &	warning,
		uint8_t &	error,
		uint8_t &	brake,
		uint8_t &	move_end,
		uint8_t &	pos_reached,
		uint8_t &	error_code,
		float &	current
	)		[inline, virtual]

Implements RobotArm.

Definition at line 88 of file AmtecProtocolArm.h.

virtual float AmtecProtocolArm::getPosition

(

IDType

id

)

[inline, virtual]

Implements RobotArm.

Definition at line 55 of file AmtecProtocolArm.h.

virtual float AmtecProtocolArm::getVelocity

(

IDType

id

)

[inline, virtual]

Implements RobotArm.

Definition at line 58 of file AmtecProtocolArm.h.

virtual void AmtecProtocolArm::init

(

)

[inline, virtual]

Implements RobotArm.

Reimplemented in LWA3ArmUASHH.

Definition at line 25 of file AmtecProtocolArm.h.

virtual int AmtecProtocolArm::movePosition	(	IDType	id,
		float	position
	)		[inline, virtual]

Implements RobotArm.

Definition at line 76 of file AmtecProtocolArm.h.

virtual int AmtecProtocolArm::movePositionDuration	(	IDType	id,
		float	position,
		uint16_t	msecs
	)		[inline, virtual]

Implements RobotArm.

Definition at line 79 of file AmtecProtocolArm.h.

virtual int AmtecProtocolArm::moveVelocity	(	IDType	id,
		float	velocity
	)		[inline, virtual]

Implements RobotArm.

Definition at line 82 of file AmtecProtocolArm.h.

virtual int AmtecProtocolArm::normalStopJoint

(

IDType

id

)

[inline, virtual]

Implements RobotArm.

Definition at line 42 of file AmtecProtocolArm.h.

virtual int AmtecProtocolArm::refJoint

(

IDType

id

)

[inline, virtual]

Implements RobotArm.

Reimplemented in LWA3ArmUASHH.

Definition at line 50 of file AmtecProtocolArm.h.

virtual int AmtecProtocolArm::setAcceleration	(	IDType	id,
		float	acceleration
	)		[inline, virtual]

Implements RobotArm.

Definition at line 68 of file AmtecProtocolArm.h.

virtual int AmtecProtocolArm::setCurrent	(	IDType	id,
		float	current
	)		[inline, virtual]

Implements RobotArm.

Definition at line 71 of file AmtecProtocolArm.h.

virtual int AmtecProtocolArm::setVelocity	(	IDType	id,
		float	velocity
	)		[inline, virtual]

Implements RobotArm.

Definition at line 65 of file AmtecProtocolArm.h.

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Member Data Documentation

AmtecManipulator AmtecProtocolArm::manipulator_ [protected]

Definition at line 112 of file AmtecProtocolArm.h.

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

• AmtecProtocolArm.h