ScorbotI Class Reference

Inheritance diagram for ScorbotI:

Collaboration diagram for ScorbotI:

Public Member Functions
	ScorbotI (OptionManager &mgr, const std::string &descrName="ScorbotServer", const std::string &tagName="ScorbotServer")
void	init ()
Robots::ArmPos	getIK (float x, float y, float z, const Ice::Current &)
	Get the inverse kinematics.
bool	getEFpos (float &x, float &y, float &z, const Ice::Current &)
	Set the end effector position in x,y,z.
bool	setEFPos (float x, float y, float z, const Ice::Current &)
	get the end effector position in x,y,z
bool	setMotor (Robots::JOINTS joint, int pwm, const Ice::Current &)
	Set the motor pwm.
int	getPWM (Robots::JOINTS j, const Ice::Current &)
	Get the current pwm value.
bool	setJointPos (Robots::JOINTS joint, int pos, const Ice::Current &)
	Set the joint to a given position.
int	getJointPos (Robots::JOINTS joint, const Ice::Current &)
	Get the joint position.
float	getEncoderAng (Robots::JOINTS joint, const Ice::Current &)
	Get the anguler joint position.
void	resetEncoders (const Ice::Current &)
	Reset all encoders to 0.
void	stopAllMotors (const Ice::Current &)
	Stop eveything.
void	setSafety (bool val, const Ice::Current &)
void	homeMotor (Robots::JOINTS joint, int LimitSeekSpeed, int MSJumpSpeed, float MSJumpDelay, int MSSeekSpeed, bool MSStopCondition, bool checkMS, const Ice::Current &)
	Home Joint.
void	homeMotors (const Ice::Current &)
	Home All Joints.
int	getMicroSwitch (const Ice::Current &)
	Get the microSwitch states.
int	getMicroSwitchMotor (Robots::JOINTS m, const Ice::Current &)
	Get the microswitch to a spacific joint.
void	shutdown (const Ice::Current &)
	Shutdown.
void	motorsOn (const Ice::Current &)
void	motorsOff (const Ice::Current &)
double	enc2ang (int encoderTicks, const Ice::Current &)
	Convert encoder tics to angle.
int	ang2enc (double degrees, const Ice::Current &)
	Convert angle to encoder ticks.
double	enc2mm (int encoderTicks, const Ice::Current &)
	Convert encoder ticks to mm.
int	mm2enc (double mm, const Ice::Current &)
	Convert mm to encoder tics.
bool	setArmPos (const Robots::ArmPos &pos, const Ice::Current &)
Robots::ArmPos	getArmPos (const Ice::Current &)
std::string	getPort ()
void	prepareForExit ()
	ScorbotI (OptionManager &mgr, const std::string &descrName="ScorbotServer", const std::string &tagName="ScorbotServer")
ScorbotInterface::encoderVals_t	encoderValsType2encoderVals_t (ScorbotIce::encoderValsType encodersT)
ScorbotIce::encoderValsType	encoderVals_t2encoderValsType (ScorbotInterface::encoderVals_t encoders_t)
ScorbotIce::pwmValsType	pwmVals_t2pwmValsType (ScorbotInterface::pwmVals_t pwms_t)
void	init ()
void	setJoint (ScorbotIce::JointType joint, int encoderPos, int timeMS, const Ice::Current &)
	Set the joint to move to the given encoder position in the given amount of time.
void	setJoints (const ScorbotIce::encoderValsType &pos, int timeMS, const Ice::Current &)
	A convenience function to set multiple joint positions.
int	getEncoder (ScorbotIce::JointType joint, const Ice::Current &)
	Get the position of a joint.
ScorbotIce::encoderValsType	getEncoders (const Ice::Current &)
	Get the position of all joints.
void	setEnabled (bool enabled, const Ice::Current &)
	Turn on/off the motors at the Scorpower box.
void	resetEncoders (const Ice::Current &)
	Reset all encoders to 0, and set the desired position of all joints to 0.
float	getPWM (ScorbotIce::JointType joint, const Ice::Current &)
	Get the current PWM value of a joint.
ScorbotIce::pwmValsType	getPWMs (const Ice::Current &)
	Get the current PWM values of all joints.
void	setControlParams (ScorbotIce::JointType joint, float pGain, float iGain, float dGain, float maxI, float maxPWM, float pwmOffset, const Ice::Current &)
	Set the PID control params for a joint.
void	getPIDVals (ScorbotIce::JointType joint, float &pGain, float &iGain, float &dGain, float &maxI, float &maxPWM, float &pwmOffset, const Ice::Current &)
	Get the PID values for a joint from the microcontroller.
void	getTuningVals (ScorbotIce::JointType joint, int &targetPos, int &targetVel, float &gravityCompensation, const Ice::Current &)
	Get the current target position and velocity.
void	setGravityParameters (int upperArmMass, int foreArmMass, float compensationScale, const Ice::Current &)
	Set the gravity compensation parameters.
void	getGravityParameters (int &upperArmMass, int &foreArmMass, float &compensationScale, const Ice::Current &)
	Get the current gravity compensation parameters.
std::string	getPort ()
	Get the requested port number.
void	prepareForExit ()

Detailed Description

Definition at line 17 of file app-ScorbotServer.C.

Member Function Documentation

int ScorbotI::ang2enc	(	double	degrees,
		const Ice::Current &
	)			`[inline]`

Convert angle to encoder ticks.

Definition at line 215 of file app-ScorbotServer.C.

double ScorbotI::enc2ang	(	int	encoderTicks,
		const Ice::Current &
	)			`[inline]`

Convert encoder tics to angle.

Definition at line 208 of file app-ScorbotServer.C.

double ScorbotI::enc2mm	(	int	encoderTicks,
		const Ice::Current &
	)			`[inline]`

Convert encoder ticks to mm.

Definition at line 222 of file app-ScorbotServer.C.

bool ScorbotI::getEFpos	(	float &	x,
		float &	y,
		float &	z,
		const Ice::Current &
	)			`[inline]`

Set the end effector position in x,y,z.

Definition at line 71 of file app-ScorbotServer.C.

int ScorbotI::getEncoder	(	ScorbotIce::JointType	joint,
		const Ice::Current &
	)			`[inline]`

Get the position of a joint.

Definition at line 99 of file app-ScorbotServer.C.

float ScorbotI::getEncoderAng	(	Robots::JOINTS	joint,
		const Ice::Current &
	)			`[inline]`

Get the anguler joint position.

Definition at line 122 of file app-ScorbotServer.C.

ScorbotIce::encoderValsType ScorbotI::getEncoders ( const Ice::Current & ) [inline]

Get the position of all joints.

Definition at line 104 of file app-ScorbotServer.C.

void ScorbotI::getGravityParameters	(	int &	upperArmMass,
		int &	foreArmMass,
		float &	compensationScale,
		const Ice::Current &
	)			`[inline]`

Get the current gravity compensation parameters.

Definition at line 151 of file app-ScorbotServer.C.

Robots::ArmPos ScorbotI::getIK	(	float	x,
		float	y,
		float	z,
		const Ice::Current &
	)			`[inline]`

Get the inverse kinematics.

Definition at line 49 of file app-ScorbotServer.C.

int ScorbotI::getJointPos	(	Robots::JOINTS	joint,
		const Ice::Current &
	)			`[inline]`

Get the joint position.

Definition at line 114 of file app-ScorbotServer.C.

int ScorbotI::getMicroSwitch ( const Ice::Current & ) [inline]

Get the microSwitch states.

Definition at line 172 of file app-ScorbotServer.C.

int ScorbotI::getMicroSwitchMotor	(	Robots::JOINTS	m,
		const Ice::Current &
	)			`[inline]`

Get the microswitch to a spacific joint.

Definition at line 180 of file app-ScorbotServer.C.

void ScorbotI::getPIDVals	(	ScorbotIce::JointType	joint,
		float &	pGain,
		float &	iGain,
		float &	dGain,
		float &	maxI,
		float &	maxPWM,
		float &	pwmOffset,
		const Ice::Current &
	)			`[inline]`

Get the PID values for a joint from the microcontroller.

Definition at line 135 of file app-ScorbotServer.C.

std::string ScorbotI::getPort ( ) [inline]

Get the requested port number.

Definition at line 156 of file app-ScorbotServer.C.

References OModelParam< T >::getVal().

float ScorbotI::getPWM	(	ScorbotIce::JointType	joint,
		const Ice::Current &
	)			`[inline]`

Get the current PWM value of a joint.

Definition at line 119 of file app-ScorbotServer.C.

int ScorbotI::getPWM	(	Robots::JOINTS	j,
		const Ice::Current &
	)			`[inline]`

Get the current pwm value.

Definition at line 98 of file app-ScorbotServer.C.

ScorbotIce::pwmValsType ScorbotI::getPWMs ( const Ice::Current & ) [inline]

Get the current PWM values of all joints.

Definition at line 124 of file app-ScorbotServer.C.

void ScorbotI::getTuningVals	(	ScorbotIce::JointType	joint,
		int &	targetPos,
		int &	targetVel,
		float &	gravityCompensation,
		const Ice::Current &
	)			`[inline]`

Get the current target position and velocity.

Definition at line 140 of file app-ScorbotServer.C.

void ScorbotI::homeMotor	(	Robots::JOINTS	joint,
		int	LimitSeekSpeed,
		int	MSJumpSpeed,
		float	MSJumpDelay,
		int	MSSeekSpeed,
		bool	MSStopCondition,
		bool	checkMS,
		const Ice::Current &
	)			`[inline]`

Home Joint.

Definition at line 153 of file app-ScorbotServer.C.

void ScorbotI::homeMotors ( const Ice::Current & ) [inline]

Home All Joints.

Definition at line 164 of file app-ScorbotServer.C.

int ScorbotI::mm2enc	(	double	mm,
		const Ice::Current &
	)			`[inline]`

Convert mm to encoder tics.

Definition at line 229 of file app-ScorbotServer.C.

void ScorbotI::resetEncoders ( const Ice::Current & ) [inline]

Reset all encoders to 0, and set the desired position of all joints to 0.

Definition at line 114 of file app-ScorbotServer.C.

void ScorbotI::resetEncoders ( const Ice::Current & ) [inline]

Reset all encoders to 0.

Definition at line 130 of file app-ScorbotServer.C.

void ScorbotI::setControlParams	(	ScorbotIce::JointType	joint,
		float	pGain,
		float	iGain,
		float	dGain,
		float	maxI,
		float	maxPWM,
		float	pwmOffset,
		const Ice::Current &
	)			`[inline]`

Set the PID control params for a joint.

Definition at line 129 of file app-ScorbotServer.C.

bool ScorbotI::setEFPos	(	float	x,
		float	y,
		float	z,
		const Ice::Current &
	)			`[inline]`

get the end effector position in x,y,z

Definition at line 80 of file app-ScorbotServer.C.

void ScorbotI::setEnabled	(	bool	enabled,
		const Ice::Current &
	)			`[inline]`

Turn on/off the motors at the Scorpower box.

Definition at line 109 of file app-ScorbotServer.C.

void ScorbotI::setGravityParameters	(	int	upperArmMass,
		int	foreArmMass,
		float	compensationScale,
		const Ice::Current &
	)			`[inline]`

Set the gravity compensation parameters.

Definition at line 146 of file app-ScorbotServer.C.

void ScorbotI::setJoint	(	ScorbotIce::JointType	joint,
		int	encoderPos,
		int	timeMS,
		const Ice::Current &
	)			`[inline]`

Set the joint to move to the given encoder position in the given amount of time.

Definition at line 88 of file app-ScorbotServer.C.

bool ScorbotI::setJointPos	(	Robots::JOINTS	joint,
		int	pos,
		const Ice::Current &
	)			`[inline]`

Set the joint to a given position.

Definition at line 106 of file app-ScorbotServer.C.

void ScorbotI::setJoints	(	const ScorbotIce::encoderValsType &	pos,
		int	timeMS,
		const Ice::Current &
	)			`[inline]`

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 94 of file app-ScorbotServer.C.

bool ScorbotI::setMotor	(	Robots::JOINTS	joint,
		int	pwm,
		const Ice::Current &
	)			`[inline]`

Set the motor pwm.

Definition at line 90 of file app-ScorbotServer.C.

void ScorbotI::shutdown ( const Ice::Current & ) [inline]

Shutdown.

Definition at line 188 of file app-ScorbotServer.C.

void ScorbotI::stopAllMotors ( const Ice::Current & ) [inline]

Stop eveything.

Definition at line 138 of file app-ScorbotServer.C.

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

src/AppDevices/app-ScorbotServer.C
src/Robots/Scorbot/app-ScorbotServer.C

ScorbotI Class Reference

Public Member Functions

Detailed Description

Member Function Documentation