has to be a boost::statechart::state because of the context<> in the constructor More...
#include <GripperPositionStateMachine.h>
Public Types | |
| typedef boost::mpl::list < boost::statechart::in_state_reaction < i_do_active, Active,&Active::doo > , boost::statechart::in_state_reaction < c_set, Active,&Active::set > , boost::statechart::in_state_reaction < c_lock, Active,&Active::lock > , boost::statechart::in_state_reaction < c_release, Active,&Active::release > , boost::statechart::in_state_reaction < c_cancel, Active,&Active::cancel > , boost::statechart::transition < i_unready_command, Inactive > , boost::statechart::transition < i_faulted_command, Inactive > > | reactions |
Public Member Functions | |
| Active (my_context ctx) | |
| void | cancel (const c_cancel &) |
| void | doo (const i_do_active &) |
| void | lock (const c_lock &) |
| void | release (const c_release &) |
| void | set (const c_set &) |
Public Attributes | |
| double | desiredCurrent |
| double | outputCurrent |
has to be a boost::statechart::state because of the context<> in the constructor
Definition at line 230 of file GripperPositionStateMachine.h.
| typedef boost::mpl::list< boost::statechart::in_state_reaction< i_do_active, Active, &Active::doo >, boost::statechart::in_state_reaction< c_set, Active, &Active::set >, boost::statechart::in_state_reaction< c_lock, Active, &Active::lock >, boost::statechart::in_state_reaction< c_release, Active, &Active::release >, boost::statechart::in_state_reaction< c_cancel, Active, &Active::cancel >, boost::statechart::transition< i_unready_command, Inactive >, boost::statechart::transition< i_faulted_command, Inactive > > Active::reactions |
Definition at line 246 of file GripperPositionStateMachine.h.
| Active::Active | ( | my_context | ctx | ) |
Definition at line 136 of file GripperPositionStateMachine.cpp.
| void Active::cancel | ( | const c_cancel & | ) |
Definition at line 248 of file GripperPositionStateMachine.cpp.
| void Active::doo | ( | const i_do_active & | ) |
use GK to find kinematic current based on single desired force value
check if on open side of over-center to determine whether to calculate kinematic current or not
sawtooth abs filter desired current and 0-then-output (outputCurrentFilter)
ceiling limit filtered current (currentMax)
duty cycle limiting
Definition at line 143 of file GripperPositionStateMachine.cpp.
| void Active::lock | ( | const c_lock & | ) |
Definition at line 216 of file GripperPositionStateMachine.cpp.
| void Active::release | ( | const c_release & | ) |
Definition at line 232 of file GripperPositionStateMachine.cpp.
| void Active::set | ( | const c_set & | ) |
Definition at line 200 of file GripperPositionStateMachine.cpp.
| double Active::desiredCurrent |
Definition at line 248 of file GripperPositionStateMachine.h.
| double Active::outputCurrent |
Definition at line 249 of file GripperPositionStateMachine.h.