#include <RobotArm.h>
Public Types | |
| typedef uint_fast16_t | IDType |
Public Member Functions | |
| virtual void | ackAll () |
| virtual int | ackJoint (IDType id)=0 |
| virtual void | emergencyStopAll () |
| virtual int | emergencyStopJoint (IDType id)=0 |
| virtual float | getMaxCurrent (IDType id)=0 |
| unsigned int | getModulesCount () const |
| 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 ¤t)=0 |
| virtual float | getPosition (IDType id)=0 |
| virtual float | getVelocity (IDType id)=0 |
| virtual void | init ()=0 |
| virtual int | movePosition (IDType id, float position)=0 |
| virtual int | movePositionDuration (IDType id, float position, uint16_t msecs)=0 |
| virtual int | moveVelocity (IDType id, float v)=0 |
| virtual void | normalStopAll () |
| virtual int | normalStopJoint (IDType id)=0 |
| virtual void | refAll () |
| virtual int | refJoint (IDType id)=0 |
| RobotArm (IDType id_offset=0) | |
| virtual int | setAcceleration (IDType id, float acceleration)=0 |
| virtual int | setCurrent (IDType id, float current)=0 |
| virtual void | setCurrentsToMax () |
| virtual int | setVelocity (IDType id, float velocity)=0 |
| virtual | ~RobotArm () |
Protected Attributes | |
| IDType | id_offset_ |
| unsigned int | modules_count_ |
Detailed Description
Definition at line 15 of file RobotArm.h.
Member Typedef Documentation
| typedef uint_fast16_t RobotArm::IDType |
Definition at line 18 of file RobotArm.h.
Constructor & Destructor Documentation
| RobotArm::RobotArm | ( | IDType | id_offset = 0 | ) | [inline] |
Definition at line 21 of file RobotArm.h.
| virtual RobotArm::~RobotArm | ( | ) | [inline, virtual] |
Definition at line 27 of file RobotArm.h.
Member Function Documentation
| virtual void RobotArm::ackAll | ( | ) | [inline, virtual] |
Definition at line 46 of file RobotArm.h.
| virtual int RobotArm::ackJoint | ( | IDType | id | ) | [pure virtual] |
Implemented in SchunkProtocolArm, AmtecProtocolArm, PowerCubeArmUUISRC, and LWA3ArmUASHH.
| virtual void RobotArm::emergencyStopAll | ( | ) | [inline, virtual] |
Definition at line 34 of file RobotArm.h.
| virtual int RobotArm::emergencyStopJoint | ( | IDType | id | ) | [pure virtual] |
Implemented in SchunkProtocolArm, AmtecProtocolArm, and PowerCubeArmUUISRC.
| virtual float RobotArm::getMaxCurrent | ( | IDType | id | ) | [pure virtual] |
Implemented in SchunkProtocolArm, and AmtecProtocolArm.
| unsigned int RobotArm::getModulesCount | ( | ) | const [inline] |
Definition at line 84 of file RobotArm.h.
| virtual void RobotArm::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 | ||
| ) | [pure virtual] |
Implemented in SchunkProtocolArm, and AmtecProtocolArm.
| virtual float RobotArm::getPosition | ( | IDType | id | ) | [pure virtual] |
Implemented in SchunkProtocolArm, and AmtecProtocolArm.
| virtual float RobotArm::getVelocity | ( | IDType | id | ) | [pure virtual] |
Implemented in SchunkProtocolArm, and AmtecProtocolArm.
| virtual void RobotArm::init | ( | ) | [pure virtual] |
Implemented in SchunkProtocolArm, AmtecProtocolArm, PowerCubeArmUUISRC, and LWA3ArmUASHH.
| virtual int RobotArm::movePosition | ( | IDType | id, |
| float | position | ||
| ) | [pure virtual] |
Implemented in SchunkProtocolArm, and AmtecProtocolArm.
| virtual int RobotArm::movePositionDuration | ( | IDType | id, |
| float | position, | ||
| uint16_t | msecs | ||
| ) | [pure virtual] |
Implemented in SchunkProtocolArm, and AmtecProtocolArm.
| virtual int RobotArm::moveVelocity | ( | IDType | id, |
| float | v | ||
| ) | [pure virtual] |
Implemented in SchunkProtocolArm, and AmtecProtocolArm.
| virtual void RobotArm::normalStopAll | ( | ) | [inline, virtual] |
Definition at line 40 of file RobotArm.h.
| virtual int RobotArm::normalStopJoint | ( | IDType | id | ) | [pure virtual] |
Implemented in SchunkProtocolArm, and AmtecProtocolArm.
| virtual void RobotArm::refAll | ( | ) | [inline, virtual] |
Definition at line 52 of file RobotArm.h.
| virtual int RobotArm::refJoint | ( | IDType | id | ) | [pure virtual] |
Implemented in SchunkProtocolArm, PowerCubeArmUUISRC, AmtecProtocolArm, and LWA3ArmUASHH.
| virtual int RobotArm::setAcceleration | ( | IDType | id, |
| float | acceleration | ||
| ) | [pure virtual] |
Implemented in SchunkProtocolArm, and AmtecProtocolArm.
| virtual int RobotArm::setCurrent | ( | IDType | id, |
| float | current | ||
| ) | [pure virtual] |
Implemented in SchunkProtocolArm, and AmtecProtocolArm.
| virtual void RobotArm::setCurrentsToMax | ( | ) | [inline, virtual] |
Definition at line 67 of file RobotArm.h.
| virtual int RobotArm::setVelocity | ( | IDType | id, |
| float | velocity | ||
| ) | [pure virtual] |
Implemented in SchunkProtocolArm, and AmtecProtocolArm.
Member Data Documentation
IDType RobotArm::id_offset_ [protected] |
Definition at line 91 of file RobotArm.h.
unsigned int RobotArm::modules_count_ [protected] |
Definition at line 93 of file RobotArm.h.
The documentation for this class was generated from the following file: