RobotArm Class Reference

Inheritance diagram for RobotArm:

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Collaboration diagram for RobotArm:

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List of all members.

Protected Member Functions
virtual void	start2 ()
	do some additional config at start time; see ModelComponent.H
Constructors, destructors, and run-time "modules"
enum	MOTOR {   BASE, SHOLDER, ELBOW, WRIST1,   WRIST2, GRIPPER, EX1, EX2,   WRIST_ROLL, WRIST_PITCH }
enum	COMMANDS {   SAFE_MODE = 9, SET_MOTORS = 10, MOTORS_OFF = 11, GET_ENCODER = 12,   RESET_ENCODER = 13, GET_PWM = 14, GET_MS = 15 }
	RobotArm (OptionManager &mgr, const std::string &descrName="RobotArm", const std::string &tagName="RobotArm")
	Constructor.
virtual	~RobotArm ()
	Virtual destructor for safe inheritance.
virtual bool	setMotor (MOTOR m, int pwm=0)
	Set the Motor Speed and Direction by pwm.
virtual void	setMotorPos (MOTOR m, int pos)
	Set the Motor Position by the encoder value.
virtual int	getEncoder (MOTOR m)
	Get the encoder value from motor.
virtual bool	resetEncoders ()
	Reset all motor encoder value to 0.
virtual void	resetMotorPos ()
	Reset all motor position to the home place.
virtual bool	stopAllMotors ()
	Stop all the motor movement.
virtual void	homeMotor ()
	Do the homeing to the all motor.
virtual void	simLoop ()
virtual Image< PixRGB< byte > >	getFrame (int camera)

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Detailed Description

Definition at line 47 of file RobotArm.H.

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Constructor & Destructor Documentation

RobotArm::RobotArm	(	OptionManager &	mgr,
		const std::string &	descrName = "RobotArm",
		const std::string &	tagName = "RobotArm"
	)			[inline]

Constructor.

Parameters:

	mgr	our ModelManager (see ModelManager.H)
	descrName	descriptive name for human usage
	tagName	name for ParamMap usage

Definition at line 59 of file RobotArm.H.

virtual RobotArm::~RobotArm

(

)

[inline, virtual]

Virtual destructor for safe inheritance.

Definition at line 67 of file RobotArm.H.

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Member Function Documentation

virtual int RobotArm::getEncoder

(

MOTOR

m

)

[inline, virtual]

Get the encoder value from motor.

Reimplemented in ArmSim, and Scorbot.

Definition at line 79 of file RobotArm.H.

virtual void RobotArm::homeMotor

(

)

[inline, virtual]

Do the homeing to the all motor.

Reimplemented in ArmSim.

Definition at line 91 of file RobotArm.H.

virtual bool RobotArm::resetEncoders

(

)

[inline, virtual]

Reset all motor encoder value to 0.

Reimplemented in ArmSim, Scorbot, and Scorbot.

Definition at line 82 of file RobotArm.H.

virtual void RobotArm::resetMotorPos

(

void

)

[inline, virtual]

Reset all motor position to the home place.

Reimplemented in ArmSim, and Scorbot.

Definition at line 85 of file RobotArm.H.

virtual bool RobotArm::setMotor	(	MOTOR	m,
		int	pwm = 0
	)			[inline, virtual]

Set the Motor Speed and Direction by pwm.

Reimplemented in ArmSim, and Scorbot.

Definition at line 73 of file RobotArm.H.

virtual void RobotArm::setMotorPos	(	MOTOR	m,
		int	pos
	)			[inline, virtual]

Set the Motor Position by the encoder value.

Reimplemented in ArmSim, and Scorbot.

Definition at line 76 of file RobotArm.H.

virtual void RobotArm::start2

(

)

[inline, protected, virtual]

do some additional config at start time; see ModelComponent.H

Reimplemented from ModelComponent.

Reimplemented in ArmSim, and Scorbot.

Definition at line 102 of file RobotArm.H.

virtual bool RobotArm::stopAllMotors

(

)

[inline, virtual]

Stop all the motor movement.

Reimplemented in ArmSim, and Scorbot.

Definition at line 88 of file RobotArm.H.

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

• src/ArmControl/RobotArm.H