Classes |
| struct | ArmPos |
| struct | ArmVelParam |
| struct | VelParam |
Public Member Functions |
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| Scorbot (OptionManager &mgr, const std::string &descrName="Scorbot", const std::string &tagName="Scorbot", const char *defdev="/dev/ttyUSB0") |
| void | start2 () |
| | do some additional config at start time; see ModelComponent.H
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| void | stop1 () |
| | This is called from within stop() before the subcomponents stop.
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| bool | setMotor (MOTOR m, int pwm) |
| | Set the Motor Speed and Direction by pwm.
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| void | setMotorPos (MOTOR m, int pos) |
| | Set the Motor Position by the encoder value.
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bool | setJointPos (MOTOR joint, int position, bool relative=false, int duration=2000) |
| int | getEncoder (MOTOR m) |
| | Get the encoder value from motor.
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float | getEncoderAng (MOTOR m) |
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int | getPWM (MOTOR m) |
| bool | resetEncoders () |
| | Reset all motor encoder value to 0.
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| void | resetMotorPos (void) |
| | Reset all motor position to the home place.
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| bool | stopAllMotors () |
| | Stop all the motor movement.
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void | simLoop () |
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void | setSafety (bool val) |
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void | getEF_pos (float &x, float &y, float &z) |
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void | homeMotors () |
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void | homeMotor (RobotArm::MOTOR axis, int LimitSeekSpeed, int MSJumpSpeed, float MSJumpDelay, int MSSeekSpeed, bool MSStopCondition, bool checkMS) |
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bool | motorsOff () |
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bool | motorsOn () |
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int | getMicroSwitch () |
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char * | getMicroSwitchByte () |
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bool | getMicroSwitchMotor (RobotArm::MOTOR m) |
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void | tunePID (MOTOR m, float p, float i, float d, bool relative) |
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void | stopControl () |
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void | startControl () |
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bool | controlStoped () |
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double | enc2ang (int encoderTicks) |
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int | ang2enc (double degrees) |
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double | enc2mm (int encoderTicks) |
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int | mm2enc (double mm) |
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void | controlLoop () |
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void | setArmPos (ArmPos &armPos) |
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ArmPos | getArmPos () |
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ArmPos | readArmState () |
| Point3D< float > | getEFPos (const ArmPos &armPos) |
| | Get the End Effector pos.
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| ArmPos | getIKArmPos (const Point3D< float > &efPos) |
| | Get the arm position from desired end effector posision.
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bool | set3DPos (bool relative=false, int duration=2000) |
| double | gravityComp (int sholderPos, int elbowPos) |
| | gravity compensator
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ArmPos | getDesiredArmPos () |
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int | getJointPos (MOTOR m) |
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bool | moveDone () |
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bool | setInternalPIDGain (MOTOR m, int P, int I, int D) |
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bool | setInternalPos (ArmPos pos) |
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bool | internalPidEn () |
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int | write (const void *buffer, const int nbytes) |
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int | read (void *buffer, const int nbytes) |
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void | shutdownMotorsOff (bool val) |
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uint8_t | readMicroswitches () |
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uint8_t | readMicroswitch (uint8_t motor_index) |
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long | readEncoder (uint8_t motor_index) |
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float | readPWMDuty (uint8_t motor_index) |
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uint8_t | readControllerStatus () |
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uint8_t * | readControlParameters (uint8_t motor_index, uint8_t &length) |
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long | readTargetPosition (uint8_t motor_index) |
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long | readTargetVelocity (uint8_t motor_index) |
| void | resetEncoders () |
| | Reset all motor encoder value to 0.
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void | setDestination (uint8_t motor_index, long position, long duration) |
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bool | setControlParameters (uint8_t motor_index, uint8_t length, uint8_t *params) |
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void | enableMotors () |
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void | disableMotors () |
1.6.3