RT100 Class Reference

#include <Devices/rt100.H>

Inheritance diagram for RT100:

[legend]Collaboration diagram for RT100:

[legend]List of all members.

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Detailed Description

Interface to a serial-servo-controller.

Definition at line 50 of file rt100.H.

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.

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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" )

Default constructor; see ModelComponent.H. Definition at line 44 of file rt100.C. References ModelComponent::addSubComponent(), and itsPort.

RT100::~RT100 (   )

Destructor. Definition at line 60 of file rt100.C.

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Member Function Documentation

int RT100::deferredRead (  IP  ipID, unsigned int  ctrl, PARAM  param, short int *  val )

deferred read param from a particuler ctrl (done in 2 transactions) Definition at line 656 of file rt100.C. References itsPort, LDEBUG, LFATAL, RT100_OK, and switchIP().

int RT100::deferredWrite (  IP  ipID, unsigned int  ctrl, PARAM  param, short int  val )

deferred write param to a particuler ctrl (done in 2 transactions) Definition at line 696 of file rt100.C. References itsPort, LDEBUG, LFATAL, RT100_OK, and switchIP(). Referenced by gotoHomePosition(), initElbowYaw(), initGripper(), initSholder(), initWrist(), initZed(), setJointParam(), and setJointPosition().

int RT100::getJointPosition (  JOINTS  joint, short int *  position )

get the current joints position Definition at line 188 of file rt100.C. References ASSERT, immediateRead(), LFATAL, and RT100_OK.

int RT100::getNumJoints (   )

get the number of joints Definition at line 65 of file rt100.C. References NUM_JOINTS.

void RT100::gotoHomePosition (   )

move the arm to home position Definition at line 398 of file rt100.C. References deferredWrite(), and rawCommand(). Referenced by init().

int RT100::immediateRead (  IP  ipID, unsigned int  ctrl, PARAM  param, short int *  val )

immediate read param from a particuler ctrl (done in 1 transactions) Definition at line 735 of file rt100.C. References itsPort, LDEBUG, LFATAL, RT100_OK, and switchIP(). Referenced by getJointPosition().

int RT100::immediateWrite (  IP  ipID, unsigned int  ctrl, PARAM  param, short int  val )

immediate write param to a particuler ctrl (done in 1 transactions) Definition at line 770 of file rt100.C. References itsPort, LDEBUG, LFATAL, RT100_OK, and switchIP(). Referenced by init().

int RT100::init (   )

initalize the arm and set default values; Definition at line 352 of file rt100.C. References EMERGENCY_STOP, gotoHomePosition(), immediateWrite(), initElbowYaw(), initGripper(), initSholder(), initWrist(), initZed(), itsPort, LINFO, rawCommand(), and RT100_OK.

void RT100::initElbowYaw (   )

initalize elbow and yaw to home position and reset counters Definition at line 609 of file rt100.C. References deferredWrite(), EMERGENCY_STOP, i, LFATAL, and rawCommand(). Referenced by init().

void RT100::initGripper (   )

initalize gripper to home position and reset counters Definition at line 449 of file rt100.C. References deferredWrite(), EMERGENCY_STOP, i, LFATAL, and rawCommand(). Referenced by init().

void RT100::initSholder (   )

initalize sholder to home position and reset counters Definition at line 574 of file rt100.C. References deferredWrite(), EMERGENCY_STOP, i, LFATAL, and rawCommand(). Referenced by init().

void RT100::initWrist (   )

initalize wrist to home position and reset counters Definition at line 512 of file rt100.C. References deferredWrite(), EMERGENCY_STOP, i, LFATAL, and rawCommand(). Referenced by init().

void RT100::initZed (   )

initalize zed to home position and reset counters Definition at line 418 of file rt100.C. References deferredWrite(), EMERGENCY_STOP, i, LFATAL, and rawCommand(). Referenced by init().

int RT100::interpolationMove (  std::vector< short int > &  moveVals  )

move the arm in interpolation mode Definition at line 271 of file rt100.C. References ASSERT, LDEBUG, LFATAL, LINFO, NUM_JOINTS, rawCommand(), and RT100_OK.

int RT100::moveArm (  bool  waitUntilComplete = false  )

move the arm to the new position Definition at line 235 of file rt100.C. References i, rawCommand(), and RT100_OK.

bool RT100::moveComplete (   )

return if the move arm completed Definition at line 258 of file rt100.C. References rawCommand().

int RT100::rawCommand (  IP  ip, unsigned char  cmdType, unsigned char  byte1, unsigned char  byte2, unsigned char *  resCode )

send raw commands to the arm (three byte command) Definition at line 889 of file rt100.C. References itsPort, LDEBUG, LFATAL, RT100_OK, and switchIP().

int RT100::rawCommand (  IP  ipID, unsigned char  cmdType, unsigned char *  resCode, unsigned char *  byte1, unsigned char *  byte2 )

send raw commands to the arm (one byte command) Definition at line 857 of file rt100.C. References itsPort, LDEBUG, LFATAL, n, RT100_OK, and switchIP().

int RT100::rawCommand (  IP  ip, unsigned char  cmdType, unsigned char *  resCode, short int *  results = NULL )

send raw commands to the arm (one byte command) Definition at line 831 of file rt100.C. References itsPort, LDEBUG, LFATAL, n, RT100_OK, and switchIP(). Referenced by gotoHomePosition(), init(), initElbowYaw(), initGripper(), initSholder(), initWrist(), initZed(), interpolationMove(), moveArm(), moveComplete(), and setJointPosition().

int RT100::setJointParam (  JOINTS  joint, PARAM  param, short int  val )

set the joint parameter Definition at line 71 of file rt100.C. References deferredWrite(), LFATAL, and RT100_OK.

int RT100::setJointPosition (  JOINTS  joint, short int  position, bool  immediate = false )

set the joint position, if immediate is true, then initiate a move command Definition at line 121 of file rt100.C. References deferredWrite(), LFATAL, rawCommand(), and RT100_OK.

int RT100::shutdown (   )

shutdown the arm and switch off all motors Definition at line 650 of file rt100.C. References RT100_OK.

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Member Data Documentation

nub::soft_ref<Serial> RT100::itsPort [protected]

Serial port to use. Definition at line 166 of file rt100.H. Referenced by deferredRead(), deferredWrite(), immediateRead(), immediateWrite(), init(), rawCommand(), RT100(), and switchIP().

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

• src/Devices/rt100.H
• src/Devices/rt100.C

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