ArmController Class Reference

Inheritance diagram for ArmController:

[legend]

Collaboration diagram for ArmController:

[legend]

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< RobotArm >	getRobotArm ()
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:

• src/ArmControl/ArmController.H
• src/ArmControl/ArmController.C