#include <JointControlManagerSeriesElastic.h>
Public Member Functions | |
| r2_msgs::JointControlData | getActualStates (void) |
| r2_msgs::JointControlData | getCommandStates (void) |
| diagnostic_msgs::DiagnosticStatus | getFaults () |
| JointControlManagerSeriesElastic (const std::string &, IoFunctions, double, const std::string &, NodeRegisterManagerPtr) | |
| void | setCommandStates (const r2_msgs::JointControlData &) |
| bool | verifyCalibrationModeState (void) |
| bool | verifyClearFaultModeState (void) |
| bool | verifyCommandModeState (void) |
| bool | verifyControlModeState (void) |
| bool | verifyStates (void) |
| virtual | ~JointControlManagerSeriesElastic () |
Protected Member Functions | |
| void | setParameters () |
Protected Attributes | |
| std::string | enable96VHeadLedsName |
| NodeRegisterManagerPtr | nodeRegisterManager |
Private Attributes | |
| const std::string | logCategory |
Detailed Description
Definition at line 16 of file JointControlManagerSeriesElastic.h.
Constructor & Destructor Documentation
| JointControlManagerSeriesElastic::JointControlManagerSeriesElastic | ( | const std::string & | mechanism, |
| IoFunctions | ioFunctions, | ||
| double | timeLimit, | ||
| const std::string & | type, | ||
| NodeRegisterManagerPtr | nodeRegisterManager | ||
| ) |
- Todo:
- put this in superdriver code (where it belongs!)
Definition at line 7 of file JointControlManagerSeriesElastic.cpp.
Definition at line 25 of file JointControlManagerSeriesElastic.cpp.
Member Function Documentation
| r2_msgs::JointControlData JointControlManagerSeriesElastic::getActualStates | ( | void | ) | [virtual] |
- Todo:
- this is here just because the superdrivers aren't currently handling it.
handle automatic transition of clear fault mode based on acknowledge bit
Implements JointControlManagerInterface.
Definition at line 45 of file JointControlManagerSeriesElastic.cpp.
| r2_msgs::JointControlData JointControlManagerSeriesElastic::getCommandStates | ( | void | ) | [virtual] |
Implements JointControlManagerInterface.
Definition at line 83 of file JointControlManagerSeriesElastic.cpp.
| diagnostic_msgs::DiagnosticStatus JointControlManagerSeriesElastic::getFaults | ( | ) | [virtual] |
Implements JointControlManagerInterface.
Definition at line 453 of file JointControlManagerSeriesElastic.cpp.
| void JointControlManagerSeriesElastic::setCommandStates | ( | const r2_msgs::JointControlData & | command | ) | [virtual] |
Don't allow bootloader if motor power is on
Don't allow bootloader unless actual is faulted, bootloader, or off Allowing OFF -> BOOTLOADER for #RDEV-1239
Don't allow off if motor power is on
Don't allow off unless actual is faulted, bootloader, or off
Don't allow park if power is off
Don't allow park unless actual is faulted, off, park, neutral, or drive
Don't allow neutral if power is off
Don't allow neutral unless actual is faulted, off, park, or neutral
Don't allow drive if motor power is not on and valid
Don't allow drive unless actual is park, neutral, or drive
Implements JointControlManagerInterface.
Definition at line 89 of file JointControlManagerSeriesElastic.cpp.
| void JointControlManagerSeriesElastic::setParameters | ( | ) | [protected] |
set default state
initialize states;
Definition at line 30 of file JointControlManagerSeriesElastic.cpp.
| bool JointControlManagerSeriesElastic::verifyCalibrationModeState | ( | void | ) | [virtual] |
Implements JointControlManagerInterface.
Definition at line 407 of file JointControlManagerSeriesElastic.cpp.
| bool JointControlManagerSeriesElastic::verifyClearFaultModeState | ( | void | ) | [virtual] |
Implements JointControlManagerInterface.
Definition at line 427 of file JointControlManagerSeriesElastic.cpp.
| bool JointControlManagerSeriesElastic::verifyCommandModeState | ( | void | ) | [virtual] |
Implements JointControlManagerInterface.
Definition at line 387 of file JointControlManagerSeriesElastic.cpp.
| bool JointControlManagerSeriesElastic::verifyControlModeState | ( | void | ) | [virtual] |
Implements JointControlManagerInterface.
Definition at line 356 of file JointControlManagerSeriesElastic.cpp.
| bool JointControlManagerSeriesElastic::verifyStates | ( | void | ) | [virtual] |
Implements JointControlManagerInterface.
Definition at line 351 of file JointControlManagerSeriesElastic.cpp.
Member Data Documentation
std::string JointControlManagerSeriesElastic::enable96VHeadLedsName [protected] |
Definition at line 35 of file JointControlManagerSeriesElastic.h.
const std::string JointControlManagerSeriesElastic::logCategory [private] |
Definition at line 38 of file JointControlManagerSeriesElastic.h.
NodeRegisterManagerPtr JointControlManagerSeriesElastic::nodeRegisterManager [protected] |
Definition at line 33 of file JointControlManagerSeriesElastic.h.
The documentation for this class was generated from the following files: