This class controls the the SCHUNK five finger hand. More...

#include <SVHController.h>

Public Member Functions
bool	connect (const std::string &dev_name)
	Open serial device connection. More...

void	disableChannel (const SVHChannel &channel)
	Disable one or all motor channels. More...

void	disconnect ()
	disconnect serial device More...

void	enableChannel (const SVHChannel &channel)
	Enable one or all motor channels. More...

bool	getControllerFeedback (const SVHChannel &channel, SVHControllerFeedback &controller_feedback)
	request the latest stored controllerfeedback (current, position) from the controller. More...

void	getControllerFeedbackAllChannels (SVHControllerFeedbackAllChannels &controller_feedback)
	Get all currently available controllerfeedbacks. More...

bool	getCurrentSettings (const SVHChannel &channel, SVHCurrentSettings &current_settings)
	request the latest stored currentsettings from the controller More...

SVHFirmwareInfo	getFirmwareInfo ()
	get the latest stored Firmware information from the controller (NOT THE HARDWARE) More...

bool	getPositionSettings (const SVHChannel &channel, SVHPositionSettings &position_settings)
	request the latest stored positionsettings from the controller More...

unsigned int	getReceivedPackageCount ()
	request the number of correctly received packages. This number is refreshed every time the serialinterace calls the receivedPacket callback More...

unsigned int	getSentPackageCount ()
	requests the number of sent packages. Request ist transferred to the serial interface that knows about this count More...

bool	isEnabled (const SVHChannel &channel)
	Check if a channel was enabled. More...

void	receivedPacketCallback (const SVHSerialPacket &packet, unsigned int packet_count)
	callback function for interpretation of packages More...

void	requestControllerFeedback (const SVHChannel &channel)
	request feedback (position and current) to a specific channel More...

void	requestControllerState ()
	Request current controller state (mainly usefull for debug purposes) More...

void	requestCurrentSettings (const SVHChannel &channel)
	request the settings of the current controller for a specific channel More...

void	requestEncoderValues ()
	read out the mutipliers for the encoders from the hardware More...

void	requestFirmwareInfo ()
	request a transmission of formware information More...

void	requestPositionSettings (const SVHChannel &channel)
	request the settings of the position controller for a specific channel More...

void	resetPackageCounts ()
	resetPackageCounts sets the sent and reveived package counts to zero More...

void	setControllerTarget (const SVHChannel &channel, const int32_t &position)
	Set new position target for finger index. More...

void	setControllerTargetAllChannels (const std::vector< int32_t > &positions)
	Setting new position controller target for all fingers. More...

void	setCurrentSettings (const SVHChannel &channel, const SVHCurrentSettings &current_settings)
	activate a new set of current controller settings for a specific channel More...

void	setEncoderValues (const SVHEncoderSettings &encoder_settings)
	sends a new set of encodervalues to the hardware More...

void	setPositionSettings (const SVHChannel &channel, const SVHPositionSettings &position_settings)
	activate a new set of position controller settings for a specific channel More...

	SVHController ()
	Constructs a controller class for the SCHUNK five finger hand. More...

	~SVHController ()

Static Public Attributes
static const float	CHANNEL_EFFORT_CONSTANTS [9][2]
	Effort multipliers to calculate the torque of the motors for the individual channels. More...

static const char *	m_channel_description []
	Description values to get the corresponding string value to a channel enum. More...

Private Attributes
std::vector< SVHControllerFeedback >	m_controller_feedback
	ControllerFeedback indicates current position and current per finger. More...

SVHControllerState	m_controller_state
	Currently active controllerstate on the HW Controller (indicates if PWM active etc.) More...

std::vector< SVHCurrentSettings >	m_current_settings
	vector of current controller parameters for each finger More...

uint16_t	m_enable_mask
	Bitmask to tell which fingers are enabled. More...

SVHEncoderSettings	m_encoder_settings
	Currently active encoder settings. More...

SVHFirmwareInfo	m_firmware_info
	Latest firmware info. More...

std::vector< SVHPositionSettings >	m_position_settings
	vector of position controller parameters for each finger More...

unsigned int	m_received_package_count

SVHSerialInterface *	m_serial_interface
	Serial interface for transmission and reveibing of data packets. More...

Detailed Description

This class controls the the SCHUNK five finger hand.

The controller manages all calls to the hardware and receives every feedback. All data is interpreted and stored in the apropriate objects that can be queried by others.

Note: Be carefull what you change in here as it interfaces directly with the hardware

Definition at line 87 of file SVHController.h.

Constructor & Destructor Documentation

◆ SVHController()

driver_svh::SVHController::SVHController ( )

Constructs a controller class for the SCHUNK five finger hand.

Definition at line 94 of file SVHController.cpp.

◆ ~SVHController()

driver_svh::SVHController::~SVHController ( )

SCHUNK five finger hand destructor Destructor, disable the serial device and shut down hand as far as possible

Definition at line 109 of file SVHController.cpp.

Member Function Documentation

◆ connect()

bool driver_svh::SVHController::connect ( const std::string & dev_name )

Open serial device connection.

Parameters

dev_name System handle (filename in linux) to the device

Returns: true if connect was successfull

Definition at line 121 of file SVHController.cpp.

◆ disableChannel()

void driver_svh::SVHController::disableChannel ( const SVHChannel & channel )

Disable one or all motor channels.

Parameters

channel Motor to deactivate

Definition at line 313 of file SVHController.cpp.

◆ disconnect()

void driver_svh::SVHController::disconnect ( )

disconnect serial device

Definition at line 138 of file SVHController.cpp.

◆ enableChannel()

void driver_svh::SVHController::enableChannel ( const SVHChannel & channel )

Enable one or all motor channels.

Parameters

channel Motor to activate

Definition at line 218 of file SVHController.cpp.

◆ getControllerFeedback()

bool driver_svh::SVHController::getControllerFeedback	(	const SVHChannel &	channel,
		SVHControllerFeedback &	controller_feedback
	)

request the latest stored controllerfeedback (current, position) from the controller.

Parameters

channel	Motor to get the latest feedback to
ControllerFeedback	(current, encoder position) of the specified channel

Returns: true if the feedback could be read, false otherwise

Controllerfeedback (crurrent,channel) is stored/updated in the controller once it is send by the hardware. This is the case once a controlCommand has been send or the feedback has specifically been requested by using the getControllerFeedback() function

Definition at line 697 of file SVHController.cpp.

◆ getControllerFeedbackAllChannels()

void driver_svh::SVHController::getControllerFeedbackAllChannels ( SVHControllerFeedbackAllChannels & controller_feedback )

Get all currently available controllerfeedbacks.

Definition at line 714 of file SVHController.cpp.

◆ getCurrentSettings()

bool driver_svh::SVHController::getCurrentSettings	(	const SVHChannel &	channel,
		SVHCurrentSettings &	current_settings
	)

request the latest stored currentsettings from the controller

Parameters

channel	Motor to get the currentsettings for
position_settings	current settings to be returned

Returns: true if the request was succesfull false otherwise

Definition at line 737 of file SVHController.cpp.

◆ getFirmwareInfo()

SVHFirmwareInfo driver_svh::SVHController::getFirmwareInfo ( )

get the latest stored Firmware information from the controller (NOT THE HARDWARE)

Returns: the Firmware information

Definition at line 754 of file SVHController.cpp.

◆ getPositionSettings()

bool driver_svh::SVHController::getPositionSettings	(	const SVHChannel &	channel,
		SVHPositionSettings &	position_settings
	)

request the latest stored positionsettings from the controller

Parameters

channel	Motor to get the positionsettings for
position_settings	position settings to be returned

Returns: true if the request was succesfull false otherwise

Definition at line 720 of file SVHController.cpp.

◆ getReceivedPackageCount()

unsigned int driver_svh::SVHController::getReceivedPackageCount ( )

request the number of correctly received packages. This number is refreshed every time the serialinterace calls the receivedPacket callback

Returns: number of packages correctly received

Definition at line 782 of file SVHController.cpp.

◆ getSentPackageCount()

unsigned int driver_svh::SVHController::getSentPackageCount ( )

requests the number of sent packages. Request ist transferred to the serial interface that knows about this count

Returns: number of packages correctly sent

Definition at line 767 of file SVHController.cpp.

◆ isEnabled()

bool driver_svh::SVHController::isEnabled ( const SVHChannel & channel )

Check if a channel was enabled.

Parameters

channel to check

Returns: True if an enable has been send to the hardware

Definition at line 787 of file SVHController.cpp.

◆ receivedPacketCallback()

void driver_svh::SVHController::receivedPacketCallback	(	const SVHSerialPacket &	packet,
		unsigned int	packet_count
	)

callback function for interpretation of packages

Parameters

packet	SerialPacket containing the raw data, integrity should have been checked by SerialInterface
packet_count	count of received packets

Definition at line 547 of file SVHController.cpp.

◆ requestControllerFeedback()

void driver_svh::SVHController::requestControllerFeedback ( const SVHChannel & channel )

request feedback (position and current) to a specific channel

Parameters

channel Motorchannel the feedback should be provided for

Definition at line 380 of file SVHController.cpp.

◆ requestControllerState()

void driver_svh::SVHController::requestControllerState ( )

Request current controller state (mainly usefull for debug purposes)

Definition at line 373 of file SVHController.cpp.

◆ requestCurrentSettings()

void driver_svh::SVHController::requestCurrentSettings ( const SVHChannel & channel )

request the settings of the current controller for a specific channel

Parameters

channel Motor to request the settings for

Definition at line 455 of file SVHController.cpp.

◆ requestEncoderValues()

void driver_svh::SVHController::requestEncoderValues ( )

read out the mutipliers for the encoders from the hardware

Definition at line 511 of file SVHController.cpp.

◆ requestFirmwareInfo()

void driver_svh::SVHController::requestFirmwareInfo ( )

request a transmission of formware information

Definition at line 539 of file SVHController.cpp.

◆ requestPositionSettings()

void driver_svh::SVHController::requestPositionSettings ( const SVHChannel & channel )

request the settings of the position controller for a specific channel

Parameters

channel Motor to request the settings for

Definition at line 408 of file SVHController.cpp.

◆ resetPackageCounts()

void driver_svh::SVHController::resetPackageCounts ( )

resetPackageCounts sets the sent and reveived package counts to zero

Definition at line 759 of file SVHController.cpp.

◆ setControllerTarget()

void driver_svh::SVHController::setControllerTarget	(	const SVHChannel &	channel,
		const int32_t &	position
	)

Set new position target for finger index.

Parameters

channel	Motorchanel to set the target for
position	Target position for the channel given in encoder Ticks

Definition at line 156 of file SVHController.cpp.

◆ setControllerTargetAllChannels()

void driver_svh::SVHController::setControllerTargetAllChannels ( const std::vector< int32_t > & positions )

Setting new position controller target for all fingers.

Parameters

positions Target positions for all fingers, Only the first nine values will be evaluated

Definition at line 185 of file SVHController.cpp.

◆ setCurrentSettings()

void driver_svh::SVHController::setCurrentSettings	(	const SVHChannel &	channel,
		const SVHCurrentSettings &	current_settings
	)

activate a new set of current controller settings for a specific channel

Parameters

channel	Motor the new current controller settings will be applied to
current_settings	new settings of the current controller

Definition at line 474 of file SVHController.cpp.

◆ setEncoderValues()

void driver_svh::SVHController::setEncoderValues ( const SVHEncoderSettings & encoder_settings )

sends a new set of encodervalues to the hardware

Parameters

encoder_settings to set (prescalers)

Definition at line 518 of file SVHController.cpp.

◆ setPositionSettings()

void driver_svh::SVHController::setPositionSettings	(	const SVHChannel &	channel,
		const SVHPositionSettings &	position_settings
	)

activate a new set of position controller settings for a specific channel

Parameters

channel	Motor the new position controller settings will be applied to
position_settings	new settings of the position controller

Definition at line 417 of file SVHController.cpp.

Member Data Documentation

◆ CHANNEL_EFFORT_CONSTANTS

const float driver_svh::SVHController::CHANNEL_EFFORT_CONSTANTS

static

Initial value:

= {
  
  0.015,
  -1.543, 
  0,
  0, 
  0.014,
  -0.07, 
  0.015,
  0.282, 
  0.014,
  -0.026, 
  0.015,
  0.336, 
  0.007,
  -0.073, 
  0.005,
  0.081, 
  0,
  0 
}

Effort multipliers to calculate the torque of the motors for the individual channels.

Values are given in N/mA to be directly compatible to current output of the driver.

Definition at line 258 of file SVHController.h.

◆ m_channel_description

const char * driver_svh::SVHController::m_channel_description

static

Initial value:

= {"Thumb_Flexion",
                                                      "Thumb_Opposition", 
                                                      "Index_Finger_Distal",
                                                      "Index_Finger_Proximal",
                                                      "Middle_Finger_Distal",
                                                      "Middle_Finger_Proximal",
                                                      "Ring_Finger",
                                                      "Pinky",
                                                      "Finger_Spread",
                                                      NULL}

Description values to get the corresponding string value to a channel enum.

Description of the channels for enum matching:

Definition at line 255 of file SVHController.h.

◆ m_controller_feedback

std::vector<SVHControllerFeedback> driver_svh::SVHController::m_controller_feedback

private

ControllerFeedback indicates current position and current per finger.

Definition at line 273 of file SVHController.h.

◆ m_controller_state

SVHControllerState driver_svh::SVHController::m_controller_state

private

Currently active controllerstate on the HW Controller (indicates if PWM active etc.)

Definition at line 276 of file SVHController.h.

◆ m_current_settings

std::vector<SVHCurrentSettings> driver_svh::SVHController::m_current_settings

private

vector of current controller parameters for each finger

Definition at line 267 of file SVHController.h.

◆ m_enable_mask

uint16_t driver_svh::SVHController::m_enable_mask

private

Bitmask to tell which fingers are enabled.

Definition at line 290 of file SVHController.h.

◆ m_encoder_settings

SVHEncoderSettings driver_svh::SVHController::m_encoder_settings

private

Currently active encoder settings.

Definition at line 279 of file SVHController.h.

◆ m_firmware_info

SVHFirmwareInfo driver_svh::SVHController::m_firmware_info

private

Latest firmware info.

Definition at line 282 of file SVHController.h.

◆ m_position_settings

std::vector<SVHPositionSettings> driver_svh::SVHController::m_position_settings

private

vector of position controller parameters for each finger

Definition at line 270 of file SVHController.h.

◆ m_received_package_count

unsigned int driver_svh::SVHController::m_received_package_count

private

store how many packages where actually received. Updated every time the receivepacket callback is called

Definition at line 294 of file SVHController.h.

◆ m_serial_interface

SVHSerialInterface* driver_svh::SVHController::m_serial_interface

private

Serial interface for transmission and reveibing of data packets.

Definition at line 287 of file SVHController.h.

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

Public Member Functions

Static Public Attributes

Private Attributes

Detailed Description

Constructor & Destructor Documentation

◆ SVHController()

◆ ~SVHController()

Member Function Documentation

◆ connect()

◆ disableChannel()

◆ disconnect()

◆ enableChannel()

◆ getControllerFeedback()

◆ getControllerFeedbackAllChannels()

◆ getCurrentSettings()

◆ getFirmwareInfo()

◆ getPositionSettings()

◆ getReceivedPackageCount()

◆ getSentPackageCount()

◆ isEnabled()

◆ receivedPacketCallback()

◆ requestControllerFeedback()

◆ requestControllerState()

◆ requestCurrentSettings()

◆ requestEncoderValues()

◆ requestFirmwareInfo()

◆ requestPositionSettings()

◆ resetPackageCounts()

◆ setControllerTarget()

◆ setControllerTargetAllChannels()

◆ setCurrentSettings()

◆ setEncoderValues()

◆ setPositionSettings()

Member Data Documentation

◆ CHANNEL_EFFORT_CONSTANTS

◆ m_channel_description

◆ m_controller_feedback

◆ m_controller_state

◆ m_current_settings

◆ m_enable_mask

◆ m_encoder_settings

◆ m_firmware_info

◆ m_position_settings

◆ m_received_package_count

◆ m_serial_interface