MapDemonCtrlMaestro Class Reference

#include <demonstrator_control_maestro.h>

Inheritance diagram for MapDemonCtrlMaestro:

List of all members.

Public Member Functions
virtual bool	close ()
	Close.
virtual bool	init (DemonstratorParams *params)
	Initializing.
virtual bool	isMoving ()
	MapDemonCtrlMaestro (DemonstratorParams *params)
	Constructor.
virtual bool	movePos (const std::vector< double > &target_positions)
virtual bool	recover ()
	Recovery after emergency stop or power supply failure.
virtual bool	runCalibration ()
virtual void	setAcceleration ()
virtual void	setVelocity ()
	Sets the maximum angular velocity (rad/s) for the Joints, use with care!
virtual bool	stop ()
virtual bool	updatePositions ()
virtual	~MapDemonCtrlMaestro ()
	Destructor.
Public Attributes
bool	is_moving_
Private Types
enum	{   GET_POSITION = 0x90, SET_TARGET = 0x84, SET_VEL = 0x87, SET_ACCEL = 0x89,   IS_MOVING = 0x93, GO_HOME = 0xA2 }
Private Member Functions
double	int2rad (const int v, const int dof=0)
int	rad2int (const double v, const int dof=0)
void	writeCmd (const unsigned char cmd, const unsigned char channel=255, const unsigned char *data=NULL, const int size=0)
Private Attributes
int	fd_

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Detailed Description

Definition at line 13 of file demonstrator_control_maestro.h.

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Member Enumeration Documentation

anonymous enum [private]

Enumerator:

GET_POSITION
SET_TARGET
SET_VEL
SET_ACCEL
IS_MOVING
GO_HOME

Definition at line 44 of file demonstrator_control_maestro.h.

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Constructor & Destructor Documentation

MapDemonCtrlMaestro::MapDemonCtrlMaestro

(

DemonstratorParams *

params

)

Constructor.

Definition at line 18 of file demonstrator_control_maestro.cpp.

MapDemonCtrlMaestro::~MapDemonCtrlMaestro

(

)

[virtual]

Destructor.

Definition at line 24 of file demonstrator_control_maestro.cpp.

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Member Function Documentation

bool MapDemonCtrlMaestro::close

(

)

[virtual]

Close.

Reimplemented from MapDemonCtrl.

Definition at line 257 of file demonstrator_control_maestro.cpp.

bool MapDemonCtrlMaestro::init

(

DemonstratorParams *

params

)

[virtual]

Initializing.

get serial port configurable parameters

now open serial port

open(2) returns <0 if the port could NOT be opened

Reimplemented from MapDemonCtrl.

Definition at line 31 of file demonstrator_control_maestro.cpp.

double MapDemonCtrlMaestro::int2rad	(	const int	v,
		const int	dof = 0
	)		[inline, private]

Definition at line 69 of file demonstrator_control_maestro.h.

bool MapDemonCtrlMaestro::isMoving

(

)

[virtual]

Definition at line 223 of file demonstrator_control_maestro.cpp.

bool MapDemonCtrlMaestro::movePos

(

const std::vector< double > &

target_positions

)

[virtual]

Reimplemented from MapDemonCtrl.

Definition at line 140 of file demonstrator_control_maestro.cpp.

int MapDemonCtrlMaestro::rad2int	(	const double	v,
		const int	dof = 0
	)		[inline, private]

Definition at line 60 of file demonstrator_control_maestro.h.

bool MapDemonCtrlMaestro::recover

(

)

[virtual]

Recovery after emergency stop or power supply failure.

Reimplemented from MapDemonCtrl.

Definition at line 268 of file demonstrator_control_maestro.cpp.

bool MapDemonCtrlMaestro::runCalibration

(

)

[virtual]

Reimplemented from MapDemonCtrl.

Definition at line 129 of file demonstrator_control_maestro.cpp.

void MapDemonCtrlMaestro::setAcceleration

(

)

[virtual]

Definition at line 293 of file demonstrator_control_maestro.cpp.

void MapDemonCtrlMaestro::setVelocity

(

)

[virtual]

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...

Reimplemented from MapDemonCtrl.

Definition at line 282 of file demonstrator_control_maestro.cpp.

bool MapDemonCtrlMaestro::stop

(

)

[virtual]

Reimplemented from MapDemonCtrl.

Definition at line 246 of file demonstrator_control_maestro.cpp.

bool MapDemonCtrlMaestro::updatePositions

(

)

[virtual]

Reimplemented from MapDemonCtrl.

Definition at line 179 of file demonstrator_control_maestro.cpp.

void MapDemonCtrlMaestro::writeCmd	(	const unsigned char	cmd,
		const unsigned char	channel = 255,
		const unsigned char *	data = NULL,
		const int	size = 0
	)		[private]

Definition at line 304 of file demonstrator_control_maestro.cpp.

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Member Data Documentation

int MapDemonCtrlMaestro::fd_ [private]

Definition at line 54 of file demonstrator_control_maestro.h.

bool MapDemonCtrlMaestro::is_moving_

Definition at line 40 of file demonstrator_control_maestro.h.

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

• demonstrator_control_maestro.h
• demonstrator_control_maestro.cpp