Inheritance diagram for RoboticsAnimatSim::Robotics::RobotIOControls::DynamixelUSB::RbDynamixelUSBServo:

Collaboration diagram for RoboticsAnimatSim::Robotics::RobotIOControls::DynamixelUSB::RbDynamixelUSBServo:

Public Member Functions
virtual bool	dxl_read_block (int id, int address, int length, std::vector< int > &aryData)
	Reads an entire block of data from a dynamixel servo. This is used to allow us to read back a number of params at one time instead of having to seperate them into different packets. More...

virtual std::string	GetCommStatus (int CommStatus)

virtual float *	GetDataPointer (const std::string &strDataType)
	Returns a float pointer to a data item of interest in this object. More...

virtual std::string	GetErrorCode ()
	Checks the error code and returns an associated error message. More...

virtual Simulator *	GetSimulator ()

virtual bool	IncludeInPartsCycle ()

virtual void	Initialize ()
	Initializes this object. More...

virtual void	IOComponentID (int iID)

virtual bool	IsMotorControl ()
	Returns true if this part interface is for controlling a motor. More...

virtual void	Load (StdUtils::CStdXml &oXml)

virtual void	MicroSleep (unsigned int iTime)

virtual float	QuantizeServoPosition (float fltPos)
	If this is a servo controller interface then it will take a continuous positon and return back a valid quantized position for that servo. More...

virtual float	QuantizeServoVelocity (float fltVel)
	If this is a servo controller interface then it will take a continuous velocity and return back a valid quantized velocity for that servo. More...

virtual void	QueryProperties (CStdPtrArray< TypeProperty > &aryProperties)

virtual void	ReadAllParams ()
	Reads all major data parameters from the servo in one read packet. This include present position, speed, load, temperature, and voltage. It sets the corresponding internal variables. More...

virtual void	ReadKeyParams ()
	Reads only the key data parameters from the servo in one read packet. This include present position and speed. It sets the corresponding internal variables. More...

virtual void	ResetSimulation ()
	Resets the simulation back to time 0. More...

virtual bool	SetData (const std::string &strDataType, const std::string &strValue, bool bThrowError=true)
	Set a variable based on a string data type name. More...

virtual void	SetupIO ()
	This method is called after all connections to whatever control board have been made. It is meant to be used to setup connection information specific to this part. For example, We connect to a Firmata microcontroller like an Arduino, and then do a setup that could take some time. We should not attempt to setup any of the pins until after the board itself has been setup. After that we need to loop through and setup all the parts. That is what this method is for. More...

virtual void	ShutdownIO ()
	This method is called just before the IO thread is closed down. It gives the IO objects a chance to do any required cleanup. More...

virtual void	StepIO (int iPartIdx)
	This method is used to send/recieve the actual IO. This will often be in a seperate thread than the StepSimulation. StepSimulation gets/sets the values in the sim and gets it read for the thread that does the IO. Once that thread is ready to send/receive it uses that value to perform the operation. More...

virtual void	StepSimulation ()

virtual void	UpdateAllParamsCount (int iVal)

virtual int	UpdateAllParamsCount ()

virtual void	UpdateQueueIndex (int iVal)

virtual int	UpdateQueueIndex ()

Public Member Functions inherited from AnimatSim::Robotics::RobotPartInterface
virtual bool	Changed ()

virtual void	Changed (bool bVal)

virtual Gain *	GetGain ()
	Gets the poitner to the gain function. More...

virtual int	IOComponentID ()

virtual float	IOScaledValue ()

virtual void	IOScaledValue (float fltVal)

virtual float	IOValue ()

virtual void	IOValue (float fltVal)

virtual int	IOValueInt ()

virtual void	IOValueInt (int iVal)

virtual void	LinkedPartID (std::string strID)

virtual std::string	LinkedPartID ()

virtual void	Load (CStdXml &oXml)

virtual void	ParentIOControl (RobotIOControl *lpParent)

virtual RobotIOControl *	ParentIOControl ()

virtual void	PropertyName (std::string strName)

virtual std::string	PropertyName ()

virtual void	QueryProperties (CStdPtrArray< TypeProperty > &aryProperties)
	Queries this object for a list of properties that can be changed using SetData. More...

virtual void	SetGain (Gain *lpGain)

virtual float	StepIODuration ()
	Gets the time duration required to perform one step of the IO for this part. More...

Public Member Functions inherited from AnimatSim::AnimatBase
	AnimatBase ()
	Constructs an AnimatBase object. More...

virtual	~AnimatBase ()
	Destroys the AnimatBase object.. More...

virtual bool	AddItem (const std::string &strItemType, const std::string &strXml, bool bThrowError=true, bool bDoNotInit=false)
	Adds a new object to this parent. More...

virtual void	AfterResetSimulation ()
	Called after a simulation reset for some objects. More...

virtual long	CalculateSnapshotByteSize ()
	Calculates the snapshot byte size. More...

virtual void	Copy (CStdSerialize *lpSource)

virtual void	Enabled (bool bVal)
	Tells whether this item is enabled or not. This is not actually used for all objects, only specific ones. I am putting it in the base class though to prevent numerous duplications. More...

virtual bool	Enabled ()
	Tells whether this item is enabled or not. This is not actually used for all objects, only specific ones. I am putting it in the base class though to prevent numerous duplications. More...

virtual NeuralModule *	GetNeuralModule ()
	Gets the neural module. More...

virtual Node *	GetNode ()
	Gets the node. More...

virtual Structure *	GetStructure ()
	Gets the structure for this node. More...

virtual bool	HasProperty (const std::string &strName)
	Queries this object if it has a property with the given name. More...

virtual std::string	ID ()
	Gets the unique GUID ID of this object. More...

virtual void	ID (std::string strValue)
	Sets the unique GUID ID of the object. More...

virtual void	Kill (bool bState=true)
	Kills. More...

virtual void	LoadKeyFrameSnapshot (byte *aryBytes, long &lIndex)
	Loads a key frame snapshot. More...

virtual std::string	Name ()
	Gets the name of this object. More...

virtual void	Name (std::string strValue)
	Sets the name of the object. Blank is acceptable. More...

virtual AnimatPropertyType	PropertyType (const std::string &strName)

virtual void	ReInitialize ()
	Re-initialize this object. More...

virtual bool	RemoveItem (const std::string &strItemType, const std::string &strID, bool bThrowError=true)
	Removes a child item from this parent. More...

virtual void	Reset ()
	Resets this object. More...

virtual void	RigidBodyAdded (std::string strID)

virtual void	RigidBodyRemoved (std::string strID)

virtual void	SaveKeyFrameSnapshot (byte *aryBytes, long &lIndex)
	Saves a key frame snapshot. More...

virtual bool	Selected ()
	Tells if this items is selected or not. More...

virtual void	Selected (bool bValue, bool bSelectMultiple)
	Selects this object. More...

virtual bool	SetData (const std::string &strDataType, const float fltValue, bool bThrowError=true)
	Set a variable based on a string data type name. More...

virtual bool	SetData (const std::string &strDataType, const long lValue, bool bThrowError=true)
	Set a variable based on a string data type name. More...

virtual void	SetSystemPointers (Simulator lpSim, Structure lpStructure, NeuralModule lpModule, Node lpNode, bool bVerify)
	Sets the system pointers. More...

virtual void	SimPausing ()
	Called just before the simulation pauses. More...

virtual void	SimStarting ()
	Called just before the simulation starts. More...

virtual void	SimStopping ()
	Called just before the simulation stops. More...

virtual void	TimeStepModified ()
	Notification method that the time step modified has been modified. Objects should recalculate any slice times as needed. More...

virtual std::string	Type ()
	returns the string type name of this object. More...

virtual void	Type (std::string strValue)
	Sets the class type for this object. More...

virtual void	VerifySystemPointers ()
	Verify that system pointers have been set correctly. More...

virtual void	VisualSelectionModeChanged (int iNewMode)
	Visual selection mode changed. More...

Public Member Functions inherited from RoboticsAnimatSim::Robotics::RobotIOControls::RbDynamixelServo
virtual void	CCWComplianceMargin (int iVal)

virtual int	CCWComplianceMargin ()

virtual void	CCWComplianceSlope (int iVal)

virtual int	CCWComplianceSlope ()

virtual int	ConvertFloatVelocity (float fltVelocity)
	Gets the fixed point velocity form the floating point. More...

virtual float	ConvertFPLoad (int iLoad)
	Gets the floating point value of the servo load. The fixed point value is retrieved from the servo and then converted. More...

virtual float	ConvertFPVelocity (int iVel)
	Gets the floating point value of the servo actual velocity. The fixed point value is retrieved from the servo and then converted to rad/s. More...

virtual int	ConvertPosFloatToFP (float fltPos)

virtual float	ConvertPosFPToFloat (int iPos)

virtual void	CWComplianceMargin (int iVal)

virtual int	CWComplianceMargin ()

virtual void	CWComplianceSlope (int iVal)

virtual int	CWComplianceSlope ()

virtual float	GetActualLoad ()
	Gets the floating point value of the servo actual torque. The fixed point value is retrieved from the servo and then converted to Nm. More...

virtual int	GetActualLoad_FP ()
	Gets the fixed point value of the servo actual load. This is the exact value returned from the servo. More...

virtual float	GetActualPosition ()
	Gets the floating point value of the servo actual position. The fixed point value is retrieved from the servo and then converted to radians. More...

virtual int	GetActualPosition_FP ()
	Gets the fixed point value of the servo actual position. This is the exact value returned from the servo. More...

virtual float	GetActualTemperatureCelcius ()
	Gets the floating point value of the servo actual temperature. The fixed point value is retrieved from the servo and then converted to celcius. More...

virtual float	GetActualTemperatureFahrenheit ()
	Gets the floating point value of the servo actual temperature. The fixed point value is retrieved from the servo and then converted to fahrenheit. More...

virtual float	GetActualVelocity ()
	Gets the floating point value of the servo actual velocity. The fixed point value is retrieved from the servo and then converted to rad/s. More...

virtual int	GetActualVelocity_FP ()
	Gets the fixed point value of the servo actual velocity. This is the exact value returned from the servo. More...

virtual float	GetActualVoltage ()
	Gets the floating point value of the servo actual voltage. The fixed point value is retrieved from the servo and then converted to V. More...

virtual int	GetActualVoltage_FP ()
	Gets the fixed point value of the servo actual voltage. This is the exact value returned from the servo. More...

virtual float	GetCCWAngleLimit ()
	Gets the limit for the CCW limit of the servo in radian values. More...

virtual int	GetCCWAngleLimit_FP ()
	Gets the limit for the CCW limit of the servo in fixed point value. More...

virtual int	GetCCWComplianceMargin_FP ()

virtual int	GetCCWComplianceSlope_FP ()

virtual float	GetCWAngleLimit ()
	Gets the limit for the CW limit of the servo in radian values. More...

virtual int	GetCWAngleLimit_FP ()
	Gets the limit for the CW limit of the servo in fixed point value. More...

virtual int	GetCWComplianceMargin_FP ()

virtual int	GetCWComplianceSlope_FP ()

virtual int	GetFirmwareVersion ()
	Returns whether the servo firmware version number. More...

virtual float	GetGoalPosition ()
	Gets the floating point value of the servo goal position. The fixed point value is retrieved from the servo and then converted to radians. More...

virtual int	GetGoalPosition_FP ()
	Gets the fixed point value of the servo goal position. This is the exact value returned from the servo. More...

virtual float	GetGoalVelocity ()
	Gets the floating point value of the servo velocity. The fixed point value is retrieved from the servo and then converted to rad/s. More...

virtual int	GetGoalVelocity_FP ()
	Gets the fixed point value of the servo velocity. This is the exact value returned from the servo. More...

virtual int	GetIDNumber ()
	Returns whether the servo ID number. More...

virtual bool	GetIsAlarmShutdown ()
	Returns whether the alarm shutdown state is active. More...

virtual void	GetIsLEDOn (bool &bIsBlueOn, bool &bIsGreenOn, bool &bIsRedOn)
	Returns whether the servo blue led is currently on. More...

virtual bool	GetIsMoving ()
	Returns whether the servo is currently moving or has already reached its goal state. More...

virtual float	GetMaxSimPos ()
	Gets the maximum position in radians that the simulation will allow for the joint. More...

virtual int	GetMaxSimPos_FP ()
	Gets the maximum position in fixed point that the simulation will allow for the joint. More...

virtual int	GetMaxTorque_FP ()

virtual float	GetMinSimPos ()
	Gets the minimum position in radians that the simulation will allow for the joint. More...

virtual int	GetMinSimPos_FP ()
	Gets the minimum position in fixed point that the simulation will allow for the joint. More...

virtual int	GetModelNumber ()
	Returns whether the model number of the servo. More...

virtual float	GetPresentLoad ()

virtual float	GetPresentPosition ()

virtual float	GetPresentTemperature ()

virtual float	GetPresentVelocity ()

virtual float	GetPresentVoltage ()

virtual int	GetReturnDelayTime_FP ()
	Gets the return delay time of the servo. More...

virtual int	GetTorqueLimit_FP ()
	Gets the torque limit of the servo in fixed point value. More...

virtual void	InitMotorData ()
	Initializes the internal data on position and velocity from the actual motor. More...

virtual int	LastGoalPosition_FP ()
	Gets the last goal position that was sent to the servo. This is used so we can see the last value we set without having to requery it from the servo. More...

virtual int	LastGoalVelocity_FP ()
	Gets the last goal velocity that was sent to the servo. This is used so we can see the last value we set without having to requery it from the servo. More...

virtual void	MaxAngle (float fltVal)

virtual float	MaxAngle ()

virtual void	MaxLoadFP (int iVal)

virtual int	MaxLoadFP ()

virtual void	MaxPosFP (int iVal)

virtual int	MaxPosFP ()

virtual void	MaxTorque (int iVal)

virtual int	MaxTorque ()

virtual void	MaxVelocityFP (int iVal)

virtual int	MaxVelocityFP ()

virtual void	MinAngle (float fltVal)

virtual float	MinAngle ()

virtual void	MinLoadFP (int iVal)

virtual int	MinLoadFP ()

virtual void	MinPosFP (int iVal)

virtual int	MinPosFP ()

virtual void	MinVelocityFP (int iVal)

virtual int	MinVelocityFP ()

virtual void	Move (float fltPos, float fltVel)
	Moves the motor to the specified position at the given speed. More...

virtual void	QueryMotorData (bool bVal)

virtual bool	QueryMotorData ()

virtual bool	ResetToStartPos ()

virtual void	ResetToStartPos (bool bVal)

virtual void	RPMPerFPUnit (float fltVal)

virtual float	RPMPerFPUnit ()

virtual void	ServoID (int iID)
	Sets the ID that will be used for communications with this servo. This is NOT writing an ID to the servo. It is just specifying which one to use for com access. More...

virtual int	ServoID ()
	Gets the servo ID being used for communications. More...

virtual void	SetCCWAngleLimit (float fltLimit)
	Sets the limit for the CCW limit of the servo using radians. More...

virtual void	SetCCWAngleLimit_FP (int iVal)
	Sets the limit for the CCW limit of the servo using fixed point value. More...

virtual void	SetCCWComplianceMargin_FP (int iVal)

virtual void	SetCCWComplianceSlope_FP (int iVal)

virtual void	SetCWAngleLimit (float fltLimit)
	Sets the limit for the CW limit of the servo using radians. More...

virtual void	SetCWAngleLimit_FP (int iVal)
	Sets the limit for the CW limit of the servo using fixed point value. More...

virtual void	SetCWComplianceMargin_FP (int iVal)

virtual void	SetCWComplianceSlope_FP (int iVal)

virtual void	SetGoalPosition (float fltPos)
	Sets the floating point value of the servo goal position. This is the position in radians. It will be converted to a fixed point value based on the motor configuration and then used to set the position. This method assumes that center value is 0 and that it uses +/- values on either side. More...

virtual void	SetGoalPosition_FP (int iPos)
	Sets the fixed point value of the servo goal position. This is the exact value that will be sent to the servo. More...

virtual void	SetGoalVelocity (float fltVelocity)
	Sets the floating point value of the servo velocity. This is the velocity in rad/s. It will be converted to a fixed point value based on the motor configuration and then used to set the velocity. More...

virtual void	SetGoalVelocity_FP (int iVelocity)
	Sets the fixed point value of the servo velocity. This is the exact value that will be sent to the servo. This method excludes the velocity of 0 which defaults it to move at its fastest speed. If you want to do that then use the SetMaximumVelocity method. More...

virtual void	SetMaximumVelocity ()
	Sets the servo goal speed to 0 for maximum velocity. More...

virtual void	SetMaxSimPos (float fltVal)
	Sets the maximum position that the simulation will allow for this joint in radians. More...

virtual void	SetMaxTorque_FP (int iVal)

virtual void	SetMinSimPos (float fltVal)
	Sets the minimum position that the simulation will allow for this joint in radians. More...

virtual void	SetNextGoalPosition (float fltPos)
	Sets the floating point value of the servo goal position that will be used the next time the iO for this servo is processed. This is the position in radians. It will be converted to a fixed point value based on the motor configuration and then used to set the position. This method assumes that center value is 0 and that it uses +/- values on either side. More...

virtual void	SetNextGoalPosition_FP (int iPos)
	Sets the fixed point value of the servo goal position that will be used the next time the IO for this servo is processed. This is the exact value that will be sent to the servo. More...

virtual void	SetNextGoalVelocity (float fltVelocity)
	Sets the floating point value of the servo velocity the next time the IO for this servo is processed. This is the velocity in rad/s. It will be converted to a fixed point value based on the motor configuration and then used to set the velocity. More...

virtual void	SetNextGoalVelocity_FP (int iVelocity)
	Sets the fixed point value of the servo velocity for the next time the IO for this servo is processed. More...

virtual void	SetNextMaximumVelocity ()
	Sets the servo goal speed to 0 for maximum velocity the next time the IO for this servo is processed. More...

virtual void	SetReturnDelayTime_FP (int iVal)
	Sets the return delay time of the servo. More...

virtual void	SetTorqueLimit_FP (int iVal)
	Sets the torque limit of the servo using fixed point value. More...

virtual void	ShutdownMotor ()
	Shuts the motor down cleanly and ensures that it is not continuing to move after processing has stopped. More...

virtual void	Stop ()
	Attempts to stop the motor at its current position. More...

virtual float	TranslationRange ()
	Gets the the total range of translation for a prismatic joint (meters). More...

virtual void	TranslationRange (float fltVal)
	Sets the total range for translation of a prismatic joint. More...

virtual void	WaitForMoveToFinish ()

Protected Member Functions
virtual void	AddMotorUpdate (int iPos, int iSpeed)

virtual int	GetRegister (unsigned char reg, unsigned char length)

virtual int	ReadAlarmShutdown (int iServoID)

virtual int	ReadCCWAngleLimit (int iServoID)

virtual int	ReadCCWComplianceMargin (int iServoID)

virtual int	ReadCCWComplianceSlope (int iServoID)

virtual int	ReadCWAngleLimit (int iServoID)

virtual int	ReadCWComplianceMargin (int iServoID)

virtual int	ReadCWComplianceSlope (int iServoID)

virtual int	ReadFirmwareVersion (int iServoID)

virtual int	ReadGoalPosition (int iServoID)

virtual int	ReadID (int iServoID)

virtual int	ReadIsMoving (int iServoID)

virtual int	ReadLED (int iServoID)

virtual int	ReadMaxTorque (int iServoID)

virtual int	ReadModelNumber (int iServoID)

virtual int	ReadMovingSpeed (int iServoID)

virtual int	ReadPresentLoad (int iServoID)

virtual int	ReadPresentPosition (int iServoID)

virtual int	ReadPresentSpeed (int iServoID)

virtual int	ReadPresentTemperature (int iServoID)

virtual int	ReadPresentVoltage (int iServoID)

virtual int	ReadReturnDelayTime (int iServoID)

virtual int	ReadTorqueLimit (int iServoID)

virtual void	SetRegister (unsigned char reg, unsigned char length, unsigned int value)

virtual void	WriteCCWAngleLimit (int iServoID, int iVal)

virtual void	WriteCCWComplianceMargin (int iServoID, int iVal)

virtual void	WriteCCWComplianceSlope (int iServoID, int iVal)

virtual void	WriteCWAngleLimit (int iServoID, int iVal)

virtual void	WriteCWComplianceMargin (int iServoID, int iVal)

virtual void	WriteCWComplianceSlope (int iServoID, int iVal)

virtual void	WriteGoalPosition (int iServoID, int iPos)

virtual void	WriteMaxTorque (int iServoID, int iVal)

virtual void	WriteMovingSpeed (int iServoID, int iVelocity)

virtual void	WriteReturnDelayTime (int iServoID, int iVal)

virtual void	WriteTorqueLimit (int iServoID, int iVal)

Protected Member Functions inherited from AnimatSim::Robotics::RobotPartInterface
virtual void	AddGain (std::string strXml)
	Creates and adds a gain object. More...

Protected Member Functions inherited from RoboticsAnimatSim::Robotics::RobotIOControls::RbDynamixelServo
virtual void	ConfigureServo ()
	Checks the current limits on the motor and sets them according to the simulation params. More...

virtual void	GetLimitValues ()

virtual void	RecalculateParams ()

virtual bool	SetData (const std::string &strDataType, const std::string &strValue)

virtual void	SetMotorPosVel ()

Protected Attributes
int	m_iUpdateAllParamsCount

int	m_iUpdateIdx
	Keeps track of the number of update loops that have occurred since we last updated all params.

int	m_iUpdateQueueIndex

RbDynamixelUSB *	m_lpParentUSB

Protected Attributes inherited from AnimatSim::Robotics::RobotPartInterface
bool	m_bChanged
	True when the value changes.

float	m_fltIOScaledValue

float	m_fltIOValue

float	m_fltStepIODuration

int	m_iIOComponentID

int	m_iIOValue
	This stores the temporary IO value to be used later in IO calculations.

Gain *	m_lpGain
	Pointer to the Gain that will be used to convert the source value into the target value.

RobotInterface *	m_lpParentInterface

RobotIOControl *	m_lpParentIOControl

BodyPart *	m_lpPart

float *	m_lpProperty

std::string	m_strPartID

std::string	m_strPropertyName

Protected Attributes inherited from AnimatSim::AnimatBase
bool	m_bEnabled
	Tells if this item is enabled or not. If it is not enabled then it is not run.

bool	m_bSelected
	Tells whether the object is selected or not.

AnimatSim::Behavior::NeuralModule *	m_lpModule
	The pointer to this items parentNeuralModule. If this is not relevant for this object then this is NULL.

Node *	m_lpNode
	The pointer to this items parent Node. If this is not relevant for this object then this is NULL.

Simulator *	m_lpSim
	The pointer to a Simulation.

AnimatSim::Environment::Structure *	m_lpStructure
	The pointer to this items parent Structure. If this is not relevant for this object then this is NULL.

std::string	m_strID
	The unique Id for this object.

std::string	m_strName
	The name for this object.

std::string	m_strType
	The type for this object. Examples are Box, Plane, Neuron, etc..

Protected Attributes inherited from RoboticsAnimatSim::Robotics::RobotIOControls::RbDynamixelServo
bool	m_bIsHinge

bool	m_bNeedSetVelStopPos

bool	m_bQueryMotorData

bool	m_bResetToStartPos
	If true then we should reset to the start position at the beginning of the simulation.

bool	m_bVelStopPosSet
	Keeps track of whether we have already set velocity to stop when doing velocity control.

float	m_fltCenterPos
	The center point value in radians.

float	m_fltConvertFPToLoad
	Used to conver the load fixed point value back to a percentage of load.

float	m_fltConvertFPToPosS
	The conversion factor to convert FP velocity value to rad/s.

float	m_fltConvertPosSToFP
	The conversion factor to convert rad/s to FP velocity.

float	m_fltFloatToFPTranslation
	Conversion factor for when we are doing prismatic joints. Converts rotations to linear movements.

float	m_fltFPToFloatTranslation
	Conversion factor for when we are doing prismatic joints. Converts rotations to linear movements.

float	m_fltHiLimit
	Hi constraint limit value.

float	m_fltIOPos
	Used to report back the IO position of the servo at each step.

float	m_fltIOVelocity
	Used to report back the IO velocity of the servo at each step.

float	m_fltLoad
	The current load that was last read in for this servo.

float	m_fltLowLimit
	Low constraint limit value.

float	m_fltMaxAngle
	Maximum value that can be set for the position in floating point number.

float	m_fltMaxPosSec
	Stores the maximum rad/sec for this motor.

float	m_fltMaxSimPos
	This is the maximum angle in radians that can be used for this servo as specified in the simulation.

float	m_fltMinAngle
	Minimum value that can be set for the position in floating point number.

float	m_fltMinSimPos
	This is the minimum angle in radians that can be used for this servo as specified in the simulation.

float	m_fltPosFloatToFPIntercept
	The conversion factor to convert radians to FP position.

float	m_fltPosFloatToFPSlope
	The conversion factor to convert radians to FP position.

float	m_fltPosFPToFloatIntercept
	The conversion factor to convert FP position to floating point position..

float	m_fltPosFPToFloatSlope
	The conversion factor to convert FP position to floating point position.

float	m_fltPresentPos
	The current position that was last read in for this servo.

float	m_fltPresentVelocity
	The current velocity that was last read in for this servo.

float	m_fltReadParamTime
	The time taken to read the params of this motor for the current step.

float	m_fltRPMPerFPUnit
	Stores the maximum rot/min for this motor. The max rotations (rad) per fixed point unit.

float	m_fltTemperature
	The current temperature that was last read in for this servo.

float	m_fltTotalAngle
	Maximum angle the servo can move in floating point number. m_iMaxPosFP - m_iMinPosFP.

float	m_fltTranslationRange
	The total translation range over which a prismatic joint can move. This does not apply to hinge joints.

float	m_fltVoltage
	The current voltage that was last read in for this servo.

int	m_iCCWComplianceMargin
	Used to set the CCW compliance margin of the servo.

int	m_iCCWComplianceSlope
	Used to set the CCW compliance slope of the servo.

int	m_iCenterPosFP
	The center point value in fixed point numbers.

int	m_iCWComplianceMargin
	Used to set the CW compliance margin of the servo.

int	m_iCWComplianceSlope
	Used to set the CW compliance slope of the servo.

int	m_iLastGoalPos
	Keeps track of the last servo goal position that we set.

int	m_iLastGoalVelocity
	Keeps track of the last servo goal velocity that we set.

int	m_iLoad
	The current load that was last read in for this servo.

int	m_iMaxLoadFP
	Maximum value that can be set for the load.

int	m_iMaxPosFP
	Maximum value that can be set for the position in fixed point number.

int	m_iMaxSimPos
	This is the maximum angle in fixed point that can be used for this servo as specified in the simulation.

int	m_iMaxTorque
	Used to set the maximum torque of the servo.

int	m_iMaxVelocityFP
	Maximum value that can be set for the velocity.

int	m_iMinLoadFP
	Minimum value that can be set for the load.

int	m_iMinPosFP
	Minimum value that can be set for the position in fixed point number.

int	m_iMinSimPos
	This is the minimum angle in fixed point that can be used for this servo as specified in the simulation.

int	m_iMinVelocityFP
	Minimum value that can be set for the velocity.

int	m_iNextGoalPos
	This is the goal position that you would like to use in the next time step.

int	m_iNextGoalVelocity
	This is the goal velocity that you would like to use in the next time step.

int	m_iPresentPos
	The current position that was last read in for this servo.

int	m_iPresentVelocity
	The current velocity that was last read in for this servo.

int	m_iServoID
	ID used for communications with this servo.

int	m_iTemperature
	The current temperature that was last read in for this servo.

int	m_iTotalAngle
	Maximum angle the servo can move in fixed point number. m_iMaxPosFP - m_iMinPosFP.

int	m_iVoltage
	The current voltage that was last read in for this servo.

MotorizedJoint *	m_lpMotorJoint
	Pointer to an associated motorized joint.

Additional Inherited Members
Static Public Member Functions inherited from AnimatSim::Robotics::RobotPartInterface
static RobotPartInterface *	CastToDerived (AnimatBase *lpBase)

Detailed Description

Definition at line 18 of file RbDynamixelUSBServo.h.

Member Function Documentation

bool RoboticsAnimatSim::Robotics::RobotIOControls::DynamixelUSB::RbDynamixelUSBServo::dxl_read_block	(	int	id,
		int	address,
		int	length,
		std::vector< int > &	aryData
	)

virtual

Reads an entire block of data from a dynamixel servo. This is used to allow us to read back a number of params at one time instead of having to seperate them into different packets.

Author: dcofer

Date: 5/7/2014

Parameters

id	ID of the servo to query.
address	address in the control block to start reading.
length	length of the data to read.
aryData	Data that was read.

Returns: True if it succedded in the read.

Definition at line 328 of file RbDynamixelUSBServo.cpp.

Referenced by ReadAllParams(), and ReadKeyParams().

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float * RoboticsAnimatSim::Robotics::RobotIOControls::DynamixelUSB::RbDynamixelUSBServo::GetDataPointer ( const std::string & strDataType )

virtual

Returns a float pointer to a data item of interest in this object.

This is a generic method used to get a pointer to data variable of interest. It is used by a variety of systems in the simulation. The most prominent are the data charting and stimulus classes. Within this method we associate a variable with a string name. By passing in the name of the data type we are interested in we can recieve back a float pointer to that data type. We can use that to read or set the data item in other classes. For example, the data charting system gets the pointer and then each time it needs to log a data point it reads the value into an array.

Author: dcofer

Date: 2/22/2011

Parameters

strDataType name of the data item for which we are looking.

Returns: float pointer of the data item. If not found then it throws an exception.

Exceptions

If	DataType is not found.

Reimplemented from AnimatSim::Robotics::RobotPartInterface.

Definition at line 93 of file RbDynamixelUSBServo.cpp.

std::string RoboticsAnimatSim::Robotics::RobotIOControls::DynamixelUSB::RbDynamixelUSBServo::GetErrorCode ( )

virtual

Checks the error code and returns an associated error message.

Author: dcofer

Date: 5/7/2014

Returns: Error message.

Definition at line 364 of file RbDynamixelUSBServo.cpp.

void RoboticsAnimatSim::Robotics::RobotIOControls::DynamixelUSB::RbDynamixelUSBServo::Initialize ( )

virtual

Initializes this object.

After an object is loaded in it must be initialized before it can be used. This allows the object to retrieve any pointers or setup memory that it will need during execution. Each object is responsible for initializing any of its child objects, so you simply need to call this method on the containing class to init all child objects. It also calls VerifySystemPointers to make sure that the system pointers have been setup correctly.

Author: dcofer

Date: 3/1/2011

Reimplemented from AnimatSim::Robotics::RobotPartInterface.

Definition at line 165 of file RbDynamixelUSBServo.cpp.

References RoboticsAnimatSim::Robotics::RobotIOControls::RbDynamixelServo::m_lpMotorJoint.

virtual bool RoboticsAnimatSim::Robotics::RobotIOControls::DynamixelUSB::RbDynamixelUSBServo::IsMotorControl ( )

inlinevirtual

Returns true if this part interface is for controlling a motor.

Author: dcofer

Date: 6/19/2014

Returns: Pointer to the gain.

Reimplemented from AnimatSim::Robotics::RobotPartInterface.

Definition at line 90 of file RbDynamixelUSBServo.h.

float RoboticsAnimatSim::Robotics::RobotIOControls::DynamixelUSB::RbDynamixelUSBServo::QuantizeServoPosition ( float fltPos )

virtual

If this is a servo controller interface then it will take a continuous positon and return back a valid quantized position for that servo.

Servos have discreet positions they can obtain based on the bit resolution of the goal position. So they can only be set to move to those positions. If we are trying to sync the sim to match this behavior then we need to only move the sim to these positions as well. You will need to override this method in your actual motor control part interface and implement for your motor model.

Author: dcofer

Date: 6/19/2014

Returns: Quantized position.

Reimplemented from AnimatSim::Robotics::RobotPartInterface.

Definition at line 153 of file RbDynamixelUSBServo.cpp.

float RoboticsAnimatSim::Robotics::RobotIOControls::DynamixelUSB::RbDynamixelUSBServo::QuantizeServoVelocity ( float fltVel )

virtual

If this is a servo controller interface then it will take a continuous velocity and return back a valid quantized velocity for that servo.

Servos have discreet velocity they can obtain based on the bit resolution of the goal velocity. So they can only be set to move at those velocity. If we are trying to sync the sim to match this behavior then we need to only move the sim to these velociies as well. You will need to override this method in your actual motor control part interface and implement for your motor model.

Author: dcofer

Date: 6/19/2014

Returns: Quantized velocity.

Reimplemented from AnimatSim::Robotics::RobotPartInterface.

Definition at line 158 of file RbDynamixelUSBServo.cpp.

void RoboticsAnimatSim::Robotics::RobotIOControls::DynamixelUSB::RbDynamixelUSBServo::ReadAllParams ( )

virtual

Reads all major data parameters from the servo in one read packet. This include present position, speed, load, temperature, and voltage. It sets the corresponding internal variables.

Author: dcofer

Date: 5/7/2014

Definition at line 263 of file RbDynamixelUSBServo.cpp.

Referenced by StepIO().

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void RoboticsAnimatSim::Robotics::RobotIOControls::DynamixelUSB::RbDynamixelUSBServo::ReadKeyParams ( )

virtual

Reads only the key data parameters from the servo in one read packet. This include present position and speed. It sets the corresponding internal variables.

Author: dcofer

Date: 5/7/2014

Definition at line 294 of file RbDynamixelUSBServo.cpp.

Referenced by StepIO().

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void RoboticsAnimatSim::Robotics::RobotIOControls::DynamixelUSB::RbDynamixelUSBServo::ResetSimulation ( )

virtual

Resets the simulation back to time 0.

This method calls the ResetSimulation method on all subitems in order to reset the simulation back to the beginning.

Author: dcofer

Date: 3/1/2011

Reimplemented from AnimatSim::Robotics::RobotPartInterface.

Definition at line 239 of file RbDynamixelUSBServo.cpp.

References AnimatSim::Robotics::RobotPartInterface::ResetSimulation().

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bool RoboticsAnimatSim::Robotics::RobotIOControls::DynamixelUSB::RbDynamixelUSBServo::SetData	(	const std::string &	strDataType,
		const std::string &	strValue,
		bool	bThrowError = `true`
	)

virtual

Set a variable based on a string data type name.

This is a generic method that can be used to set any variable in an AnimatBase object by specifying the name of the variable and a string representation of that data. The GUI uses this method to set data into variables in the simulation when the user changes them in the UI. The value string can be as simple as a float or int, or as complex as an xml packet. It is the developers responsibilty to know what type of data is needed and to process it accordingly.

Author: dcofer

Date: 2/22/2011

Parameters

strDataType	string name of the data type to set.
strValue	The string value of the data. It is up to the developer to determine what this should be. For example, in most cases it is simply a float and you just have to convert it to a float and make the appropriate mutator method call. However, it can be any type of string, including an entire xml packet. It is the developers responsibility to know how to set and process the data as required.
bThrowError	true to throw error if there is a problem. If false then it will not return an error, just return false.

Returns: true if it succeeds, false if it fails.

Reimplemented from AnimatSim::Robotics::RobotPartInterface.

Definition at line 102 of file RbDynamixelUSBServo.cpp.

References StdUtils::Std_CheckString().

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void RoboticsAnimatSim::Robotics::RobotIOControls::DynamixelUSB::RbDynamixelUSBServo::SetupIO ( )

virtual

This method is called after all connections to whatever control board have been made. It is meant to be used to setup connection information specific to this part. For example, We connect to a Firmata microcontroller like an Arduino, and then do a setup that could take some time. We should not attempt to setup any of the pins until after the board itself has been setup. After that we need to loop through and setup all the parts. That is what this method is for.

Author: dcofer

Date: 5/1/2014

Reimplemented from AnimatSim::Robotics::RobotPartInterface.

Definition at line 176 of file RbDynamixelUSBServo.cpp.

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void RoboticsAnimatSim::Robotics::RobotIOControls::DynamixelUSB::RbDynamixelUSBServo::ShutdownIO ( )

virtual

This method is called just before the IO thread is closed down. It gives the IO objects a chance to do any required cleanup.

Author: dcofer

Date: 5/12/2014

Reimplemented from AnimatSim::Robotics::RobotPartInterface.

Definition at line 225 of file RbDynamixelUSBServo.cpp.

References RoboticsAnimatSim::Robotics::RobotIOControls::RbDynamixelServo::ShutdownMotor().

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void RoboticsAnimatSim::Robotics::RobotIOControls::DynamixelUSB::RbDynamixelUSBServo::StepIO ( int iPartIdx )

virtual

This method is used to send/recieve the actual IO. This will often be in a seperate thread than the StepSimulation. StepSimulation gets/sets the values in the sim and gets it read for the thread that does the IO. Once that thread is ready to send/receive it uses that value to perform the operation.

Author: dcofer

Date: 5/2/2014

Reimplemented from AnimatSim::Robotics::RobotPartInterface.

Definition at line 201 of file RbDynamixelUSBServo.cpp.

References AnimatSim::Simulator::InSimulation(), RoboticsAnimatSim::Robotics::RobotIOControls::RbDynamixelServo::m_bQueryMotorData, m_iUpdateAllParamsCount, m_iUpdateIdx, m_iUpdateQueueIndex, AnimatSim::AnimatBase::m_lpSim, ReadAllParams(), and ReadKeyParams().

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Member Data Documentation

int RoboticsAnimatSim::Robotics::RobotIOControls::DynamixelUSB::RbDynamixelUSBServo::m_iUpdateAllParamsCount

protected

The number update cycles till we update all params. Typically we only want to update position and speed of the servo every time. We will only update the other params every now and then. This tells how often to do this.

Definition at line 26 of file RbDynamixelUSBServo.h.

Referenced by StepIO().

int RoboticsAnimatSim::Robotics::RobotIOControls::DynamixelUSB::RbDynamixelUSBServo::m_iUpdateQueueIndex

protected

Keeps track of when to update this motor data from the real motor. If it is is -1 then it will update it every time. If it is set to some other positive value then it will only update it when that cycle comes around. This is for updating the motors in a round robin fashion.

Definition at line 34 of file RbDynamixelUSBServo.h.

Referenced by StepIO().

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

Public Member Functions

Protected Member Functions

Protected Attributes

Additional Inherited Members

Detailed Description

Member Function Documentation

Member Data Documentation