Public Types | |
| enum | Joint_t { Base = 0, Shoulder = 1, Elbow = 2, Wrist1 = 3, Wrist2 = 4, Gripper = 5, Slider = 6 } |
| typedef std::map< Joint_t, int32 > | encoderVals_t |
| typedef std::map< Joint_t, float > | pwmVals_t |
Public Member Functions | |
| ScorbotInterface (OptionManager &mgr, const std::string &descrName="ScorbotInterface", const std::string &tagName="ScorbotInterface") | |
| ~ScorbotInterface () | |
| Disables the motor interface. | |
| void | start2 () |
| Sets all desired joint positions to their current positions at startup. | |
| void | setJoint (Joint_t joint, int32 encoderPos, int32 time_ms) |
| Set the joint to move to the given encoder position in the given amount of time. | |
| void | setJoints (encoderVals_t pos, int32 time_ms) |
| A convenience function to set multiple joint positions. | |
| int32 | getEncoder (Joint_t joint) |
| Get the position of a joint. | |
| encoderVals_t | getEncoders () |
| Get the position of all joints. | |
| void | setEnabled (bool enabled) |
| Turn on/off the motors at the Scorpower box. | |
| void | resetEncoders () |
| Reset all encoders to 0, and set the desired position of all joints to 0. | |
| float | getPWM (Joint_t joint) |
| Get the current PWM value of a joint. | |
| pwmVals_t | getPWMs () |
| Get the current PWM values of all joints. | |
| void | setControlParams (Joint_t joint, float pGain, float iGain, float dGain, float maxI, float maxPWM, float pwmOffset) |
| Set the PID control params for a joint. | |
| void | getPIDVals (Joint_t joint, float &pGain, float &iGain, float &dGain, float &maxI, float &maxPWM, float &pwmOffset) |
| Get the PID values for a joint from the microcontroller. | |
| void | getTuningVals (Joint_t joint, int32 &targetPos, int32 &targetVel, float &gravityCompensation) |
| Get the current target position and velocity. | |
| void | setGravityParameters (int32 upperArmMass, int32 foreArmMass, float compensationScale) |
| Set the gravity compensation parameters. | |
| void | getGravityParameters (int32 &upperArmMass, int32 &foreArmMass, float &compensationScale) |
| Get the current gravity compensation parameters. | |
Definition at line 9 of file ScorbotInterface.H.
| ScorbotInterface::~ScorbotInterface | ( | ) |
Disables the motor interface.
Definition at line 80 of file ScorbotInterface.C.
References setEnabled().
| int32 ScorbotInterface::getEncoder | ( | ScorbotInterface::Joint_t | joint | ) |
Get the position of a joint.
Definition at line 188 of file ScorbotInterface.C.
| ScorbotInterface::encoderVals_t ScorbotInterface::getEncoders | ( | ) |
Get the position of all joints.
Definition at line 126 of file ScorbotInterface.C.
Referenced by start2().
| void ScorbotInterface::getGravityParameters | ( | int32 & | upperArmMass, | |
| int32 & | foreArmMass, | |||
| float & | compensationScale | |||
| ) |
Get the current gravity compensation parameters.
Definition at line 620 of file ScorbotInterface.C.
| void ScorbotInterface::getPIDVals | ( | ScorbotInterface::Joint_t | joint, | |
| float & | pGain, | |||
| float & | iGain, | |||
| float & | dGain, | |||
| float & | maxI, | |||
| float & | maxPWM, | |||
| float & | pwmOffset | |||
| ) |
Get the PID values for a joint from the microcontroller.
Definition at line 460 of file ScorbotInterface.C.
| float ScorbotInterface::getPWM | ( | ScorbotInterface::Joint_t | joint | ) |
Get the current PWM value of a joint.
Definition at line 218 of file ScorbotInterface.C.
| ScorbotInterface::pwmVals_t ScorbotInterface::getPWMs | ( | ) |
Get the current PWM values of all joints.
Definition at line 248 of file ScorbotInterface.C.
| void ScorbotInterface::getTuningVals | ( | ScorbotInterface::Joint_t | joint, | |
| int32 & | targetPos, | |||
| int32 & | targetVel, | |||
| float & | gravityCompensation | |||
| ) |
Get the current target position and velocity.
Definition at line 535 of file ScorbotInterface.C.
| void ScorbotInterface::resetEncoders | ( | ) |
Reset all encoders to 0, and set the desired position of all joints to 0.
Definition at line 358 of file ScorbotInterface.C.
References setEnabled(), and setJoints().
| void ScorbotInterface::setControlParams | ( | ScorbotInterface::Joint_t | joint, | |
| float | pGain, | |||
| float | iGain, | |||
| float | dGain, | |||
| float | maxI, | |||
| float | maxPWM, | |||
| float | pwmOffset | |||
| ) |
Set the PID control params for a joint.
Definition at line 395 of file ScorbotInterface.C.
Referenced by start2().
| void ScorbotInterface::setEnabled | ( | bool | enabled | ) |
Turn on/off the motors at the Scorpower box.
Definition at line 318 of file ScorbotInterface.C.
Referenced by resetEncoders(), and ~ScorbotInterface().
| void ScorbotInterface::setGravityParameters | ( | int32 | upperArmMass, | |
| int32 | foreArmMass, | |||
| float | compensationScale | |||
| ) |
Set the gravity compensation parameters.
Definition at line 583 of file ScorbotInterface.C.
| void ScorbotInterface::setJoint | ( | ScorbotInterface::Joint_t | joint, | |
| int32 | encoderPos, | |||
| int32 | time_ms | |||
| ) |
Set the joint to move to the given encoder position in the given amount of time.
Definition at line 86 of file ScorbotInterface.C.
Referenced by setJoints().
| void ScorbotInterface::setJoints | ( | ScorbotInterface::encoderVals_t | pos, | |
| int32 | time_ms | |||
| ) |
A convenience function to set multiple joint positions.
This function just loops over all positions in pos and sets them using setJointPos() !
Definition at line 118 of file ScorbotInterface.C.
References setJoint().
Referenced by resetEncoders(), and start2().
| void ScorbotInterface::start2 | ( | ) | [virtual] |
Sets all desired joint positions to their current positions at startup.
Reimplemented from ModelComponent.
Definition at line 16 of file ScorbotInterface.C.
References getEncoders(), setControlParams(), and setJoints().
1.6.3