#include <ixis_imcs01_driver.h>
Public Member Functions | |
| int | controlRearWheel (double rear_speed) |
| sensor_msgs::JointState | getJointState () |
| IxisImcs01Driver (std::string port_name) | |
| int | update () |
| ~IxisImcs01Driver () | |
Protected Member Functions | |
| int | closePort () |
| int | openPort (std::string port_name) |
| int | parseEncoderTime () |
| int | parseFrontEncoderCounts () |
| int | parseRearEncoderCounts () |
| int | setImcs01 () |
| int | writeOffsetCmd (RunningMode mode, unsigned short duty) |
Protected Attributes | |
| struct ccmd | cmd_ccmd_ |
| struct uin | cmd_uin_ |
| std::mutex | communication_mutex_ |
| double | delta_encoder_time_ |
| int | imcs01_fd_ |
| double | last_encoder_time_ |
| termios | newtio_imcs01_ |
| termios | oldtio_imcs01_ |
| std::vector< int > | rear_delta_encoder_counts_ |
| std::vector< int > | rear_last_encoder_counts_ |
| struct uin | received_data_ |
| RunningState | running_state_ |
| sensor_msgs::JointState | state_ |
Definition at line 52 of file ixis_imcs01_driver.h.
| IxisImcs01Driver::IxisImcs01Driver | ( | std::string | port_name | ) |
Definition at line 15 of file ixis_imcs01_driver.cpp.
Definition at line 37 of file ixis_imcs01_driver.cpp.
| int IxisImcs01Driver::closePort | ( | ) | [protected] |
if iMCs01 is opened
Definition at line 54 of file ixis_imcs01_driver.cpp.
| int IxisImcs01Driver::controlRearWheel | ( | double | rear_speed | ) |
Definition at line 180 of file ixis_imcs01_driver.cpp.
| sensor_msgs::JointState IxisImcs01Driver::getJointState | ( | ) |
Definition at line 175 of file ixis_imcs01_driver.cpp.
| int IxisImcs01Driver::openPort | ( | std::string | port_name | ) | [protected] |
Definition at line 42 of file ixis_imcs01_driver.cpp.
| int IxisImcs01Driver::parseEncoderTime | ( | ) | [protected] |
Definition at line 122 of file ixis_imcs01_driver.cpp.
| int IxisImcs01Driver::parseFrontEncoderCounts | ( | ) | [protected] |
Definition at line 134 of file ixis_imcs01_driver.cpp.
| int IxisImcs01Driver::parseRearEncoderCounts | ( | ) | [protected] |
Definition at line 142 of file ixis_imcs01_driver.cpp.
| int IxisImcs01Driver::setImcs01 | ( | ) | [protected] |
Definition at line 68 of file ixis_imcs01_driver.cpp.
| int IxisImcs01Driver::update | ( | ) |
Definition at line 107 of file ixis_imcs01_driver.cpp.
| int IxisImcs01Driver::writeOffsetCmd | ( | RunningMode | mode, |
| unsigned short | duty | ||
| ) | [protected] |
Definition at line 264 of file ixis_imcs01_driver.cpp.
struct ccmd IxisImcs01Driver::cmd_ccmd_ [protected] |
Definition at line 77 of file ixis_imcs01_driver.h.
struct uin IxisImcs01Driver::cmd_uin_ [protected] |
Definition at line 78 of file ixis_imcs01_driver.h.
std::mutex IxisImcs01Driver::communication_mutex_ [protected] |
Definition at line 81 of file ixis_imcs01_driver.h.
double IxisImcs01Driver::delta_encoder_time_ [protected] |
Definition at line 72 of file ixis_imcs01_driver.h.
int IxisImcs01Driver::imcs01_fd_ [protected] |
Definition at line 75 of file ixis_imcs01_driver.h.
double IxisImcs01Driver::last_encoder_time_ [protected] |
Definition at line 73 of file ixis_imcs01_driver.h.
termios IxisImcs01Driver::newtio_imcs01_ [protected] |
Definition at line 80 of file ixis_imcs01_driver.h.
termios IxisImcs01Driver::oldtio_imcs01_ [protected] |
Definition at line 79 of file ixis_imcs01_driver.h.
std::vector<int> IxisImcs01Driver::rear_delta_encoder_counts_ [protected] |
Definition at line 71 of file ixis_imcs01_driver.h.
std::vector<int> IxisImcs01Driver::rear_last_encoder_counts_ [protected] |
Definition at line 70 of file ixis_imcs01_driver.h.
struct uin IxisImcs01Driver::received_data_ [protected] |
Definition at line 69 of file ixis_imcs01_driver.h.
RunningState IxisImcs01Driver::running_state_ [protected] |
Definition at line 76 of file ixis_imcs01_driver.h.
sensor_msgs::JointState IxisImcs01Driver::state_ [protected] |
Definition at line 74 of file ixis_imcs01_driver.h.