ArmController Class Reference

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List of all members.

Classes

struct  JointPos

Public Member Functions

Constructors and Destructors

 ArmController (OptionManager &mgr, const std::string &descrName="ArmController", const std::string &tagName="ArmController", nub::soft_ref< RobotArm > robotArm=nub::soft_ref< RobotArm >())
 Constructor.
 ~ArmController ()
 Destructor.
bool setBasePos (int base, bool rel=false)
bool setSholderPos (int sholder, bool rel=false)
bool setElbowPos (int elbow, bool rel=false)
bool setWrist1Pos (int wrist1, bool rel=false)
bool setWrist2Pos (int wrist2, bool rel=false)
bool setSpeed (int speed)
void setGripper (int pos)
void start2 ()
 This is called from within start() after the subcomponents have started.
int getElbow ()
int getElbowErr ()
int getBase ()
int getSholder ()
int getWrist1 ()
int getWrist2 ()
bool getKillSwitch ()
void setMotor (int motor, int val)
const int * getBasePtr ()
const int * getSholderPtr ()
const int * getElbowPtr ()
const int * getWrist1Ptr ()
const int * getWrist2Ptr ()
const int * getMotor_Base_Ptr ()
const int * getMotor_Sholder_Ptr ()
const int * getMotor_Elbow_Ptr ()
const int * getMotor_Wrist1_Ptr ()
const int * getMotor_Wrist2_Ptr ()
nub::soft_ref< RobotArmgetRobotArm ()
void setMotorsOn (bool val)
void setPidOn (bool val)
void setControllerOn (bool val)
bool isControllerOn ()
void updateBase (int currentBase)
void updateSholder (int currentSholder)
void updateElbow (unsigned int currentElbow)
void updateWrist1 (unsigned int currentWrist1)
void updateWrist2 (unsigned int currentWrist2)
void updatePID ()
void sendHeartBeat ()
bool isFinishMove ()
 Wait until all joint finish move.
JointPos getJointPos ()
 Get the joint positions.
void resetJointPos (JointPos &jointPos, int val=0)
 Reset the joint positions to a particuler val.
bool setJointPos (const JointPos &jointPos, bool block=true)
 Set the joint positions.
void setMinJointPos (const JointPos &jointPos)
 Set the min joint positions.
void setMaxJointPos (const JointPos &jointPos)
 Set the max joint positions.
void killMotors ()
 Stop all motors.
void genPIDImage ()
const Image< PixRGB< byte > > * getPIDImagePtr ()

Detailed Description

Definition at line 59 of file ArmController.H.


Constructor & Destructor Documentation

ArmController::ArmController ( OptionManager mgr,
const std::string descrName = "ArmController",
const std::string tagName = "ArmController",
nub::soft_ref< RobotArm robotArm = nub::soft_ref<RobotArm>() 
)

Constructor.

Definition at line 85 of file ArmController.C.

References ModelComponent::addSubComponent().

ArmController::~ArmController (  ) 

Destructor.

Definition at line 218 of file ArmController.C.

References killMotors().


Member Function Documentation

ArmController::JointPos ArmController::getJointPos (  ) 

Get the joint positions.

Definition at line 325 of file ArmController.C.

bool ArmController::isFinishMove (  ) 

Wait until all joint finish move.

Definition at line 338 of file ArmController.C.

References abs().

Referenced by setJointPos().

void ArmController::killMotors (  ) 

Stop all motors.

Definition at line 561 of file ArmController.C.

References NModelParam< T >::setVal().

Referenced by start2(), and ~ArmController().

void ArmController::resetJointPos ( JointPos jointPos,
int  val = 0 
)

Reset the joint positions to a particuler val.

Definition at line 402 of file ArmController.C.

bool ArmController::setJointPos ( const JointPos jointPos,
bool  block = true 
)

Set the joint positions.

Definition at line 374 of file ArmController.C.

References isFinishMove().

void ArmController::setMaxJointPos ( const JointPos jointPos  ) 

Set the max joint positions.

Definition at line 362 of file ArmController.C.

void ArmController::setMinJointPos ( const JointPos jointPos  ) 

Set the min joint positions.

Definition at line 350 of file ArmController.C.

void ArmController::start2 (  )  [virtual]

This is called from within start() after the subcomponents have started.

Reimplemented from ModelComponent.

Definition at line 196 of file ArmController.C.

References killMotors(), and rutz::shared_ptr< T >::reset().


The documentation for this class was generated from the following files:
Generated on Sun May 8 08:19:56 2011 for iLab Neuromorphic Vision Toolkit by  doxygen 1.6.3