RT100 Class Reference

Interface to a serial-servo-controller. More...

#include <Devices/rt100.H>

Inheritance diagram for RT100:

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Collaboration diagram for RT100:

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List of all members.

Public Types
enum	MOTOR_STATUS { TASK_IN_PROGRESS = 0, TASK_COMPLETE = 1, ERROR_LIMIT_EXCEEDED = 2, NO_MOVEMENT = 3, MODE_ABSOLUTE_RELATIVE = 4, MODE_POSITION_FORCE = 5 }
enum	IP { IP0 = 0, IP1 = 1 }
enum	PARAM { CP_ERROR, CURRENT_POSITION, ERROR_LIMIT, NEW_POSITION, SPEED, KP, KI, KD, DEAD_BAND, OFFSET, MAX_FORCE, CURRENT_FORCE, ACCELERATION_TIME, USER_RAM, USER_IO, ACTUAL_POSITION }
enum	IP0MOTORS { IP0BASE1, IP0BASE2, IP0WRIST1, IP0WRIST2, IP0SENSOR }
enum	IP1MOTORS { IP1ELBOW, IP1SHOLDER, IP1ZED, IP1YAW, IP1GRIPPER }
enum	JOINTS { BASE1, BASE2, WRIST1, WRIST2, ROLL_WRIST, TILT_WRIST, SENSOR, ELBOW, SHOLDER, ZED, YAW, GRIPPER }
enum	MOTORS_TOGGLES { FORCE_POSITION, ABSOLUTE_RELATIVE, USER_INPUTOUTPUT }
enum	MOTORES_STOP { DEAD_STOP, RAMP_STOP, FREE_STOP, FREE_OFF }
Public Member Functions
	RT100 (OptionManager &mgr, const std::string &descrName="UMI RT100 Robot Arm Controller", const std::string &tagName="RT100Controller", const char *defdev="/dev/ttyS0")
	Default constructor; see ModelComponent.H.
	~RT100 ()
	Destructor.
int	init ()
	initalize the arm and set default values;
int	shutdown ()
	shutdown the arm and switch off all motors
int	getNumJoints ()
	get the number of joints
int	setJointPosition (JOINTS joint, short int position, bool immediate=false)
	set the joint position, if immediate is true, then initiate a move command
int	getJointPosition (JOINTS joint, short int *position)
	get the current joints position
int	setJointParam (JOINTS joint, PARAM param, short int val)
	set the joint parameter
int	moveArm (bool waitUntilComplete=false)
	move the arm to the new position
bool	moveComplete ()
	return if the move arm completed
int	interpolationMove (std::vector< short int > &moveVals)
	move the arm in interpolation mode
int	deferredWrite (IP ipID, unsigned int ctrl, PARAM param, short int val)
	deferred write param to a particuler ctrl (done in 2 transactions)
int	deferredRead (IP ipID, unsigned int ctrl, PARAM param, short int *val)
	deferred read param from a particuler ctrl (done in 2 transactions)
int	immediateRead (IP ipID, unsigned int ctrl, PARAM param, short int *val)
	immediate read param from a particuler ctrl (done in 1 transactions)
int	immediateWrite (IP ipID, unsigned int ctrl, PARAM param, short int val)
	immediate write param to a particuler ctrl (done in 1 transactions)
int	rawCommand (IP ip, unsigned char cmdType, unsigned char resCode, short int results=NULL)
	send raw commands to the arm (one byte command)
int	rawCommand (IP ipID, unsigned char cmdType, unsigned char resCode, unsigned char byte1, unsigned char *byte2)
	send raw commands to the arm (one byte command)
int	rawCommand (IP ip, unsigned char cmdType, unsigned char byte1, unsigned char byte2, unsigned char *resCode)
	send raw commands to the arm (three byte command)
void	initZed ()
	initalize zed to home position and reset counters
void	initGripper ()
	initalize gripper to home position and reset counters
void	initWrist ()
	initalize wrist to home position and reset counters
void	initSholder ()
	initalize sholder to home position and reset counters
void	initElbowYaw ()
	initalize elbow and yaw to home position and reset counters
void	gotoHomePosition ()
	move the arm to home position
Static Public Attributes
static const int	RT100_OK = 0
static const int	RT100_FAIL = 1
static const unsigned char	EMERGENCY_STOP = 0x24
static const unsigned int	NUM_JOINTS = 12
Protected Member Functions
int	switchIP (IP ipID)
Protected Attributes
nub::soft_ref< Serial >	itsPort
	Serial port to use.

Detailed Description

Interface to a serial-servo-controller.

Definition at line 50 of file rt100.H.

Constructor & Destructor Documentation

RT100::RT100	(	OptionManager &	mgr,
		const std::string &	descrName = `"UMI RT100 Robot Arm Controller"`,
		const std::string &	tagName = `"RT100Controller"`,
		const char *	defdev = `"/dev/ttyS0"`
	)