AnimatLab
2
Test
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Public Member Functions | |
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 Simulator * | GetSimulator ()=0 |
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 | MicroSleep (unsigned int iTime)=0 |
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 float | QuantizeServoPosition (float fltPos) |
virtual float | QuantizeServoVelocity (float fltVel) |
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)=0 |
virtual void | ConfigureServo () |
Checks the current limits on the motor and sets them according to the simulation params. More... | |
virtual float * | GetDataPointer (const std::string &strDataType) |
virtual void | GetLimitValues () |
virtual int | GetRegister (unsigned char reg, unsigned char length)=0 |
virtual void | Load (StdUtils::CStdXml &oXml) |
virtual void | QueryProperties (CStdPtrArray< TypeProperty > &aryProperties) |
virtual int | ReadAlarmShutdown (int iServoID)=0 |
virtual int | ReadCCWAngleLimit (int iServoID)=0 |
virtual int | ReadCCWComplianceMargin (int iServoID)=0 |
virtual int | ReadCCWComplianceSlope (int iServoID)=0 |
virtual int | ReadCWAngleLimit (int iServoID)=0 |
virtual int | ReadCWComplianceMargin (int iServoID)=0 |
virtual int | ReadCWComplianceSlope (int iServoID)=0 |
virtual int | ReadFirmwareVersion (int iServoID)=0 |
virtual int | ReadGoalPosition (int iServoID)=0 |
virtual int | ReadID (int iServoID)=0 |
virtual int | ReadIsMoving (int iServoID)=0 |
virtual int | ReadLED (int iServoID)=0 |
virtual int | ReadMaxTorque (int iServoID)=0 |
virtual int | ReadModelNumber (int iServoID)=0 |
virtual int | ReadMovingSpeed (int iServoID)=0 |
virtual int | ReadPresentLoad (int iServoID)=0 |
virtual int | ReadPresentPosition (int iServoID)=0 |
virtual int | ReadPresentSpeed (int iServoID)=0 |
virtual int | ReadPresentTemperature (int iServoID)=0 |
virtual int | ReadPresentVoltage (int iServoID)=0 |
virtual int | ReadReturnDelayTime (int iServoID)=0 |
virtual int | ReadTorqueLimit (int iServoID)=0 |
virtual void | RecalculateParams () |
virtual void | ResetSimulation () |
virtual bool | SetData (const std::string &strDataType, const std::string &strValue) |
virtual void | SetMotorPosVel () |
virtual void | SetRegister (unsigned char reg, unsigned char length, unsigned int value)=0 |
virtual void | StepSimulation () |
virtual void | WriteCCWAngleLimit (int iServoID, int iVal)=0 |
virtual void | WriteCCWComplianceMargin (int iServoID, int iVal)=0 |
virtual void | WriteCCWComplianceSlope (int iServoID, int iVal)=0 |
virtual void | WriteCWAngleLimit (int iServoID, int iVal)=0 |
virtual void | WriteCWComplianceMargin (int iServoID, int iVal)=0 |
virtual void | WriteCWComplianceSlope (int iServoID, int iVal)=0 |
virtual void | WriteGoalPosition (int iServoID, int iPos)=0 |
virtual void | WriteMaxTorque (int iServoID, int iVal)=0 |
virtual void | WriteMovingSpeed (int iServoID, int iVelocity)=0 |
virtual void | WriteReturnDelayTime (int iServoID, int iVal)=0 |
virtual void | WriteTorqueLimit (int iServoID, int iVal)=0 |
Protected Attributes | |
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. | |
Definition at line 84 of file RbDynamixelServo.h.
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Checks the current limits on the motor and sets them according to the simulation params.
Reimplemented in RoboticsAnimatSim::Robotics::RobotIOControls::Firmata::RbFirmataDynamixelServo.
Definition at line 948 of file RbDynamixelServo.cpp.
References GetCCWAngleLimit_FP(), GetCWAngleLimit_FP(), GetReturnDelayTime_FP(), GetTorqueLimit_FP(), m_iCCWComplianceMargin, m_iCCWComplianceSlope, m_iCWComplianceMargin, m_iCWComplianceSlope, m_iMaxSimPos, m_iMinSimPos, SetCCWAngleLimit_FP(), SetCWAngleLimit_FP(), and SetReturnDelayTime_FP().
Referenced by InitMotorData().
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Gets the fixed point velocity form the floating point.
fltVelocity | Floating point value of velocity from the servo in rad/s. |
Definition at line 666 of file RbDynamixelServo.cpp.
References m_fltConvertPosSToFP, m_fltFloatToFPTranslation, m_iMaxVelocityFP, and m_iMinVelocityFP.
Referenced by RoboticsAnimatSim::Robotics::RobotIOControls::Firmata::RbFirmataDynamixelServo::Move(), SetGoalVelocity(), and SetNextGoalVelocity().
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Gets the floating point value of the servo load. The fixed point value is retrieved from the servo and then converted.
iVel | The fixed point load. |
Definition at line 720 of file RbDynamixelServo.cpp.
References m_fltConvertFPToLoad, and m_iMaxLoadFP.
Referenced by GetActualLoad(), RoboticsAnimatSim::Robotics::RobotIOControls::DynamixelUSB::RbDynamixelUSBServo::ReadAllParams(), and RoboticsAnimatSim::Robotics::RobotIOControls::DynamixelUSB::RbDynamixelUSBServo::ReadKeyParams().
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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.
iVel | The fixed point velocity. |
Definition at line 643 of file RbDynamixelServo.cpp.
References m_fltConvertFPToPosS, m_fltFPToFloatTranslation, and m_iMaxVelocityFP.
Referenced by GetActualVelocity(), RoboticsAnimatSim::Robotics::RobotIOControls::DynamixelUSB::RbDynamixelUSBServo::ReadAllParams(), and RoboticsAnimatSim::Robotics::RobotIOControls::DynamixelUSB::RbDynamixelUSBServo::ReadKeyParams().
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Gets the floating point value of the servo actual torque. The fixed point value is retrieved from the servo and then converted to Nm.
Definition at line 742 of file RbDynamixelServo.cpp.
References ConvertFPLoad(), and GetActualLoad_FP().
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Gets the fixed point value of the servo actual load. This is the exact value returned from the servo.
Definition at line 704 of file RbDynamixelServo.cpp.
References m_iServoID.
Referenced by GetActualLoad().
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Gets the floating point value of the servo actual position. The fixed point value is retrieved from the servo and then converted to radians.
Definition at line 610 of file RbDynamixelServo.cpp.
References GetActualPosition_FP().
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Gets the fixed point value of the servo actual position. This is the exact value returned from the servo.
Definition at line 596 of file RbDynamixelServo.cpp.
References m_iServoID.
Referenced by GetActualPosition(), InitMotorData(), and ShutdownMotor().
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Gets the floating point value of the servo actual temperature. The fixed point value is retrieved from the servo and then converted to celcius.
Definition at line 799 of file RbDynamixelServo.cpp.
References m_iServoID.
Referenced by GetActualTemperatureFahrenheit().
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Gets the floating point value of the servo actual temperature. The fixed point value is retrieved from the servo and then converted to fahrenheit.
Definition at line 785 of file RbDynamixelServo.cpp.
References GetActualTemperatureCelcius().
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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.
Definition at line 690 of file RbDynamixelServo.cpp.
References ConvertFPVelocity(), and GetActualVelocity_FP().
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Gets the fixed point value of the servo actual velocity. This is the exact value returned from the servo.
Definition at line 627 of file RbDynamixelServo.cpp.
References m_iServoID.
Referenced by GetActualVelocity().
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Gets the floating point value of the servo actual voltage. The fixed point value is retrieved from the servo and then converted to V.
Definition at line 770 of file RbDynamixelServo.cpp.
References GetActualVoltage_FP().
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Gets the fixed point value of the servo actual voltage. This is the exact value returned from the servo.
Definition at line 756 of file RbDynamixelServo.cpp.
References m_iServoID.
Referenced by GetActualVoltage().
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Gets the limit for the CCW limit of the servo in radian values.
Definition at line 1133 of file RbDynamixelServo.cpp.
References GetCCWAngleLimit_FP().
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Gets the limit for the CCW limit of the servo in fixed point value.
Definition at line 1119 of file RbDynamixelServo.cpp.
References m_iServoID.
Referenced by ConfigureServo(), and GetCCWAngleLimit().
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Gets the limit for the CW limit of the servo in radian values.
Definition at line 1188 of file RbDynamixelServo.cpp.
References GetCWAngleLimit_FP().
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Gets the limit for the CW limit of the servo in fixed point value.
Definition at line 1175 of file RbDynamixelServo.cpp.
References m_iServoID.
Referenced by ConfigureServo(), and GetCWAngleLimit().
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Returns whether the servo firmware version number.
Definition at line 896 of file RbDynamixelServo.cpp.
References m_iServoID.
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Gets the floating point value of the servo goal position. The fixed point value is retrieved from the servo and then converted to radians.
Definition at line 569 of file RbDynamixelServo.cpp.
References GetGoalPosition_FP().
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Gets the fixed point value of the servo goal position. This is the exact value returned from the servo.
Definition at line 520 of file RbDynamixelServo.cpp.
References m_iServoID.
Referenced by GetGoalPosition().
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Gets the floating point value of the servo velocity. The fixed point value is retrieved from the servo and then converted to rad/s.
Definition at line 453 of file RbDynamixelServo.cpp.
References GetGoalVelocity_FP(), and m_fltConvertFPToPosS.
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Gets the fixed point value of the servo velocity. This is the exact value returned from the servo.
Definition at line 401 of file RbDynamixelServo.cpp.
References m_iServoID.
Referenced by GetGoalVelocity().
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Returns whether the servo ID number.
Definition at line 882 of file RbDynamixelServo.cpp.
References m_iServoID.
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Returns whether the alarm shutdown state is active.
Definition at line 850 of file RbDynamixelServo.cpp.
References m_iServoID.
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Returns whether the servo blue led is currently on.
bIsBlueOn | True if blue LED is on. |
bIsGreenOn | True if green LED is on. |
bIsRedOn | True if red LED is on. |
Definition at line 833 of file RbDynamixelServo.cpp.
References m_iServoID.
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Returns whether the servo is currently moving or has already reached its goal state.
Definition at line 813 of file RbDynamixelServo.cpp.
References m_iServoID.
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Gets the maximum position in radians that the simulation will allow for the joint.
Definition at line 1305 of file RbDynamixelServo.cpp.
References m_fltMaxSimPos.
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Gets the maximum position in fixed point that the simulation will allow for the joint.
Definition at line 1295 of file RbDynamixelServo.cpp.
References m_iMaxSimPos.
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Gets the minimum position in radians that the simulation will allow for the joint.
Definition at line 1267 of file RbDynamixelServo.cpp.
References m_fltMinSimPos.
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Gets the minimum position in fixed point that the simulation will allow for the joint.
Definition at line 1257 of file RbDynamixelServo.cpp.
References m_iMinSimPos.
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Returns whether the model number of the servo.
Definition at line 868 of file RbDynamixelServo.cpp.
References m_iServoID.
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Gets the return delay time of the servo.
Definition at line 1048 of file RbDynamixelServo.cpp.
References m_iServoID.
Referenced by ConfigureServo().
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Gets the torque limit of the servo in fixed point value.
Definition at line 1347 of file RbDynamixelServo.cpp.
References m_iServoID.
Referenced by ConfigureServo().
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Initializes the internal data on position and velocity from the actual motor.
Reimplemented in RoboticsAnimatSim::Robotics::RobotIOControls::Firmata::RbFirmataDynamixelServo.
Definition at line 990 of file RbDynamixelServo.cpp.
References ConfigureServo(), GetActualPosition_FP(), m_bResetToStartPos, m_iLastGoalPos, m_iServoID, Move(), and SetGoalVelocity_FP().
Referenced by RoboticsAnimatSim::Robotics::RobotIOControls::Firmata::RbFirmataDynamixelServo::InitMotorData(), and RoboticsAnimatSim::Robotics::RobotIOControls::DynamixelUSB::RbDynamixelUSBServo::SetupIO().
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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.
Definition at line 586 of file RbDynamixelServo.cpp.
References m_iLastGoalPos.
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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.
Definition at line 470 of file RbDynamixelServo.cpp.
References m_iLastGoalVelocity.
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Moves the motor to the specified position at the given speed.
Reimplemented in RoboticsAnimatSim::Robotics::RobotIOControls::Firmata::RbFirmataDynamixelServo.
Definition at line 930 of file RbDynamixelServo.cpp.
References SetGoalPosition(), SetGoalVelocity(), and SetMaximumVelocity().
Referenced by InitMotorData().
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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.
iID | The ID value to use for communications. |
Definition at line 302 of file RbDynamixelServo.cpp.
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Gets the servo ID being used for communications.
Definition at line 316 of file RbDynamixelServo.cpp.
References m_iServoID.
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Sets the limit for the CCW limit of the servo using radians.
fltVal | limit |
Definition at line 1076 of file RbDynamixelServo.cpp.
References SetCCWAngleLimit_FP().
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Sets the limit for the CCW limit of the servo using fixed point value.
iVal | limit |
Definition at line 1062 of file RbDynamixelServo.cpp.
References m_iMaxPosFP, m_iMinPosFP, and m_iServoID.
Referenced by ConfigureServo(), and SetCCWAngleLimit().
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Sets the limit for the CW limit of the servo using radians.
fltVal | limit |
Definition at line 1161 of file RbDynamixelServo.cpp.
References SetCWAngleLimit_FP().
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Sets the limit for the CW limit of the servo using fixed point value.
iVal | limit |
Definition at line 1147 of file RbDynamixelServo.cpp.
References m_iMaxPosFP, m_iMinPosFP, and m_iServoID.
Referenced by ConfigureServo(), and SetCWAngleLimit().
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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.
fltPos | The new value position in radians. |
Definition at line 536 of file RbDynamixelServo.cpp.
References SetGoalPosition_FP().
Referenced by Move().
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Sets the fixed point value of the servo goal position. This is the exact value that will be sent to the servo.
iPos | The new value fixed point position. |
Definition at line 480 of file RbDynamixelServo.cpp.
References m_iLastGoalPos, m_iMaxSimPos, m_iMinSimPos, and m_iServoID.
Referenced by SetGoalPosition(), and ShutdownMotor().
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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.
fltVelocity | The new value velocity in rad/s. |
Definition at line 418 of file RbDynamixelServo.cpp.
References ConvertFloatVelocity(), and SetGoalVelocity_FP().
Referenced by Move().
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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.
iVelocity | The new value fixed point velocity. |
Definition at line 328 of file RbDynamixelServo.cpp.
References m_iLastGoalVelocity, m_iMaxVelocityFP, m_iMinVelocityFP, and m_iServoID.
Referenced by InitMotorData(), SetGoalVelocity(), and ShutdownMotor().
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Sets the servo goal speed to 0 for maximum velocity.
Definition at line 367 of file RbDynamixelServo.cpp.
References m_iLastGoalVelocity, and m_iServoID.
Referenced by Move().
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Sets the maximum position that the simulation will allow for this joint in radians.
fltVal | limit |
Definition at line 1315 of file RbDynamixelServo.cpp.
References m_fltMaxSimPos, m_iMaxPosFP, m_iMaxSimPos, and m_iMinPosFP.
Referenced by RoboticsAnimatSim::Robotics::RobotIOControls::DynamixelUSB::RbDynamixelUSBServo::SetupIO(), and RoboticsAnimatSim::Robotics::RobotIOControls::Firmata::RbFirmataDynamixelServo::SetupIO().
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Sets the minimum position that the simulation will allow for this joint in radians.
fltVal | limit |
Definition at line 1277 of file RbDynamixelServo.cpp.
References m_fltMinSimPos, m_iMaxPosFP, m_iMinPosFP, and m_iMinSimPos.
Referenced by RoboticsAnimatSim::Robotics::RobotIOControls::DynamixelUSB::RbDynamixelUSBServo::SetupIO(), and RoboticsAnimatSim::Robotics::RobotIOControls::Firmata::RbFirmataDynamixelServo::SetupIO().
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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.
fltPos | The new value position in radians. |
Definition at line 554 of file RbDynamixelServo.cpp.
References SetNextGoalPosition_FP().
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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.
iPos | The new value fixed point position. |
Definition at line 503 of file RbDynamixelServo.cpp.
References m_iMaxSimPos, m_iMinSimPos, and m_iNextGoalPos.
Referenced by SetNextGoalPosition(), and Stop().
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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.
fltVelocity | The new value velocity in rad/s. |
Definition at line 434 of file RbDynamixelServo.cpp.
References ConvertFloatVelocity(), and SetNextGoalVelocity_FP().
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Sets the fixed point value of the servo velocity for the next time the IO for this servo is processed.
iVelocity | The new value fixed point velocity. |
Definition at line 351 of file RbDynamixelServo.cpp.
References m_iMaxVelocityFP, m_iMinVelocityFP, and m_iNextGoalVelocity.
Referenced by SetNextGoalVelocity().
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Sets the servo goal speed to 0 for maximum velocity the next time the IO for this servo is processed.
Definition at line 384 of file RbDynamixelServo.cpp.
References m_iLastGoalVelocity, and m_iNextGoalVelocity.
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Sets the return delay time of the servo.
iVal | delay time |
Definition at line 1034 of file RbDynamixelServo.cpp.
References m_iServoID.
Referenced by ConfigureServo().
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Sets the torque limit of the servo using fixed point value.
iVal | limit |
Definition at line 1333 of file RbDynamixelServo.cpp.
References m_iMaxLoadFP, m_iMinLoadFP, and m_iServoID.
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Shuts the motor down cleanly and ensures that it is not continuing to move after processing has stopped.
Reimplemented in RoboticsAnimatSim::Robotics::RobotIOControls::Firmata::RbFirmataDynamixelServo.
Definition at line 1015 of file RbDynamixelServo.cpp.
References GetActualPosition_FP(), m_iServoID, SetGoalPosition_FP(), and SetGoalVelocity_FP().
Referenced by RoboticsAnimatSim::Robotics::RobotIOControls::DynamixelUSB::RbDynamixelUSBServo::ShutdownIO(), and RoboticsAnimatSim::Robotics::RobotIOControls::Firmata::RbFirmataDynamixelServo::ShutdownMotor().
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Attempts to stop the motor at its current position.
Reimplemented in RoboticsAnimatSim::Robotics::RobotIOControls::Firmata::RbFirmataDynamixelServo.
Definition at line 919 of file RbDynamixelServo.cpp.
References m_iPresentPos, and SetNextGoalPosition_FP().
Referenced by RoboticsAnimatSim::Robotics::RobotIOControls::Firmata::RbFirmataDynamixelServo::Stop().
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Gets the the total range of translation for a prismatic joint (meters).
Definition at line 1090 of file RbDynamixelServo.cpp.
References m_fltTranslationRange.
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Sets the total range for translation of a prismatic joint.
fltVal | range |
Definition at line 1100 of file RbDynamixelServo.cpp.
References m_fltTranslationRange, and StdUtils::Std_IsAboveMin().
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Used to keep track of whether we need to set the stop position when doing velocity control and the velocity is set to 0
Definition at line 240 of file RbDynamixelServo.h.
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Keeps track of whether we want to pull the data back from this motor or not. If we are only setting values in it then there is no reason to do an update for it.
Definition at line 224 of file RbDynamixelServo.h.
Referenced by RoboticsAnimatSim::Robotics::RobotIOControls::Firmata::RbFirmataDynamixelServo::InitMotorData(), RoboticsAnimatSim::Robotics::RobotIOControls::Firmata::RbFirmataDynamixelServo::ShutdownMotor(), and RoboticsAnimatSim::Robotics::RobotIOControls::DynamixelUSB::RbDynamixelUSBServo::StepIO().