AnimatLab  2
Test
RoboticsAnimatSim::Robotics::RobotIOControls::RbDynamixelServo Class Referenceabstract
+ Inheritance diagram for RoboticsAnimatSim::Robotics::RobotIOControls::RbDynamixelServo:
+ Collaboration diagram for RoboticsAnimatSim::Robotics::RobotIOControls::RbDynamixelServo:

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.
 

Detailed Description

Definition at line 84 of file RbDynamixelServo.h.

Member Function Documentation

void RoboticsAnimatSim::Robotics::RobotIOControls::RbDynamixelServo::ConfigureServo ( )
protectedvirtual

Checks the current limits on the motor and sets them according to the simulation params.

Author
dcofer
Date
9/11/2014

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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int RoboticsAnimatSim::Robotics::RobotIOControls::RbDynamixelServo::ConvertFloatVelocity ( float  fltVelocity)
virtual

Gets the fixed point velocity form the floating point.

Author
dcofer
Date
4/25/2014
Parameters
fltVelocityFloating point value of velocity from the servo in rad/s.
Returns
The fixed point velocity.

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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float RoboticsAnimatSim::Robotics::RobotIOControls::RbDynamixelServo::ConvertFPLoad ( int  iLoad)
virtual

Gets the floating point value of the servo load. The fixed point value is retrieved from the servo and then converted.

Author
dcofer
Date
4/25/2014
Parameters
iVelThe fixed point load.
Returns
Floating point value of velocity from the servo in rad/s.

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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float RoboticsAnimatSim::Robotics::RobotIOControls::RbDynamixelServo::ConvertFPVelocity ( int  iVel)
virtual

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.

Author
dcofer
Date
4/25/2014
Parameters
iVelThe fixed point velocity.
Returns
Floating point value of velocity from the servo in rad/s.

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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float RoboticsAnimatSim::Robotics::RobotIOControls::RbDynamixelServo::GetActualLoad ( )
virtual

Gets the floating point value of the servo actual torque. The fixed point value is retrieved from the servo and then converted to Nm.

Author
dcofer
Date
4/25/2014
Returns
Floating point value of actual torque from the servo in Nm.

Definition at line 742 of file RbDynamixelServo.cpp.

References ConvertFPLoad(), and GetActualLoad_FP().

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int RoboticsAnimatSim::Robotics::RobotIOControls::RbDynamixelServo::GetActualLoad_FP ( )
virtual

Gets the fixed point value of the servo actual load. This is the exact value returned from the servo.

Author
dcofer
Date
4/25/2014
Returns
Fixed point value of actual load from the servo.

Definition at line 704 of file RbDynamixelServo.cpp.

References m_iServoID.

Referenced by GetActualLoad().

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float RoboticsAnimatSim::Robotics::RobotIOControls::RbDynamixelServo::GetActualPosition ( )
virtual

Gets the floating point value of the servo actual position. The fixed point value is retrieved from the servo and then converted to radians.

Author
dcofer
Date
4/25/2014
Returns
Floating point value of goal position from the servo in radians.

Definition at line 610 of file RbDynamixelServo.cpp.

References GetActualPosition_FP().

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int RoboticsAnimatSim::Robotics::RobotIOControls::RbDynamixelServo::GetActualPosition_FP ( )
virtual

Gets the fixed point value of the servo actual position. This is the exact value returned from the servo.

Author
dcofer
Date
4/25/2014
Returns
Fixed point value of actual position from the servo.

Definition at line 596 of file RbDynamixelServo.cpp.

References m_iServoID.

Referenced by GetActualPosition(), InitMotorData(), and ShutdownMotor().

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float RoboticsAnimatSim::Robotics::RobotIOControls::RbDynamixelServo::GetActualTemperatureCelcius ( )
virtual

Gets the floating point value of the servo actual temperature. The fixed point value is retrieved from the servo and then converted to celcius.

Author
dcofer
Date
4/25/2014
Returns
Floating point value of actual temperature from the servo in C.

Definition at line 799 of file RbDynamixelServo.cpp.

References m_iServoID.

Referenced by GetActualTemperatureFahrenheit().

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float RoboticsAnimatSim::Robotics::RobotIOControls::RbDynamixelServo::GetActualTemperatureFahrenheit ( )
virtual

Gets the floating point value of the servo actual temperature. The fixed point value is retrieved from the servo and then converted to fahrenheit.

Author
dcofer
Date
4/25/2014
Returns
Floating point value of actual temperature from the servo in F.

Definition at line 785 of file RbDynamixelServo.cpp.

References GetActualTemperatureCelcius().

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float RoboticsAnimatSim::Robotics::RobotIOControls::RbDynamixelServo::GetActualVelocity ( )
virtual

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.

Author
dcofer
Date
4/25/2014
Returns
Floating point value of actual velocity from the servo in rad/s.

Definition at line 690 of file RbDynamixelServo.cpp.

References ConvertFPVelocity(), and GetActualVelocity_FP().

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int RoboticsAnimatSim::Robotics::RobotIOControls::RbDynamixelServo::GetActualVelocity_FP ( )
virtual

Gets the fixed point value of the servo actual velocity. This is the exact value returned from the servo.

Author
dcofer
Date
4/25/2014
Returns
Fixed point value of actual velocity from the servo.

Definition at line 627 of file RbDynamixelServo.cpp.

References m_iServoID.

Referenced by GetActualVelocity().

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float RoboticsAnimatSim::Robotics::RobotIOControls::RbDynamixelServo::GetActualVoltage ( )
virtual

Gets the floating point value of the servo actual voltage. The fixed point value is retrieved from the servo and then converted to V.

Author
dcofer
Date
4/25/2014
Returns
Floating point value of actual voltage from the servo in V.

Definition at line 770 of file RbDynamixelServo.cpp.

References GetActualVoltage_FP().

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int RoboticsAnimatSim::Robotics::RobotIOControls::RbDynamixelServo::GetActualVoltage_FP ( )
virtual

Gets the fixed point value of the servo actual voltage. This is the exact value returned from the servo.

Author
dcofer
Date
4/25/2014
Returns
Fixed point value of actual voltage from the servo.

Definition at line 756 of file RbDynamixelServo.cpp.

References m_iServoID.

Referenced by GetActualVoltage().

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float RoboticsAnimatSim::Robotics::RobotIOControls::RbDynamixelServo::GetCCWAngleLimit ( )
virtual

Gets the limit for the CCW limit of the servo in radian values.

Author
dcofer
Date
5/9/2014
Returns
limit

Definition at line 1133 of file RbDynamixelServo.cpp.

References GetCCWAngleLimit_FP().

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int RoboticsAnimatSim::Robotics::RobotIOControls::RbDynamixelServo::GetCCWAngleLimit_FP ( )
virtual

Gets the limit for the CCW limit of the servo in fixed point value.

Author
dcofer
Date
5/9/2014
Returns
limit

Definition at line 1119 of file RbDynamixelServo.cpp.

References m_iServoID.

Referenced by ConfigureServo(), and GetCCWAngleLimit().

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float RoboticsAnimatSim::Robotics::RobotIOControls::RbDynamixelServo::GetCWAngleLimit ( )
virtual

Gets the limit for the CW limit of the servo in radian values.

Author
dcofer
Date
5/9/2014
Returns
limit

Definition at line 1188 of file RbDynamixelServo.cpp.

References GetCWAngleLimit_FP().

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int RoboticsAnimatSim::Robotics::RobotIOControls::RbDynamixelServo::GetCWAngleLimit_FP ( )
virtual

Gets the limit for the CW limit of the servo in fixed point value.

Author
dcofer
Date
5/9/2014
Returns
limit

Definition at line 1175 of file RbDynamixelServo.cpp.

References m_iServoID.

Referenced by ConfigureServo(), and GetCWAngleLimit().

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int RoboticsAnimatSim::Robotics::RobotIOControls::RbDynamixelServo::GetFirmwareVersion ( )
virtual

Returns whether the servo firmware version number.

Author
dcofer
Date
4/25/2014
Returns
Firmware number.

Definition at line 896 of file RbDynamixelServo.cpp.

References m_iServoID.

float RoboticsAnimatSim::Robotics::RobotIOControls::RbDynamixelServo::GetGoalPosition ( )
virtual

Gets the floating point value of the servo goal position. The fixed point value is retrieved from the servo and then converted to radians.

Author
dcofer
Date
4/25/2014
Returns
Floating point value of goal position from the servo in radians.

Definition at line 569 of file RbDynamixelServo.cpp.

References GetGoalPosition_FP().

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int RoboticsAnimatSim::Robotics::RobotIOControls::RbDynamixelServo::GetGoalPosition_FP ( )
virtual

Gets the fixed point value of the servo goal position. This is the exact value returned from the servo.

Author
dcofer
Date
4/25/2014
Returns
Fixed point value of goal position from the servo.

Definition at line 520 of file RbDynamixelServo.cpp.

References m_iServoID.

Referenced by GetGoalPosition().

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float RoboticsAnimatSim::Robotics::RobotIOControls::RbDynamixelServo::GetGoalVelocity ( )
virtual

Gets the floating point value of the servo velocity. The fixed point value is retrieved from the servo and then converted to rad/s.

Author
dcofer
Date
4/25/2014
Returns
Floating point value of velocity from the servo in rad/s.

Definition at line 453 of file RbDynamixelServo.cpp.

References GetGoalVelocity_FP(), and m_fltConvertFPToPosS.

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int RoboticsAnimatSim::Robotics::RobotIOControls::RbDynamixelServo::GetGoalVelocity_FP ( )
virtual

Gets the fixed point value of the servo velocity. This is the exact value returned from the servo.

Author
dcofer
Date
4/25/2014
Returns
Fixed point value of velocity from the servo.

Definition at line 401 of file RbDynamixelServo.cpp.

References m_iServoID.

Referenced by GetGoalVelocity().

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int RoboticsAnimatSim::Robotics::RobotIOControls::RbDynamixelServo::GetIDNumber ( )
virtual

Returns whether the servo ID number.

Author
dcofer
Date
4/25/2014
Returns
ID Number.

Definition at line 882 of file RbDynamixelServo.cpp.

References m_iServoID.

bool RoboticsAnimatSim::Robotics::RobotIOControls::RbDynamixelServo::GetIsAlarmShutdown ( )
virtual

Returns whether the alarm shutdown state is active.

Author
dcofer
Date
4/25/2014
Returns
True if shutdown.

Definition at line 850 of file RbDynamixelServo.cpp.

References m_iServoID.

void RoboticsAnimatSim::Robotics::RobotIOControls::RbDynamixelServo::GetIsLEDOn ( bool &  bIsBlueOn,
bool &  bIsGreenOn,
bool &  bIsRedOn 
)
virtual

Returns whether the servo blue led is currently on.

Author
dcofer
Date
4/25/2014
Parameters
bIsBlueOnTrue if blue LED is on.
bIsGreenOnTrue if green LED is on.
bIsRedOnTrue if red LED is on.

Definition at line 833 of file RbDynamixelServo.cpp.

References m_iServoID.

bool RoboticsAnimatSim::Robotics::RobotIOControls::RbDynamixelServo::GetIsMoving ( )
virtual

Returns whether the servo is currently moving or has already reached its goal state.

Author
dcofer
Date
4/25/2014
Returns
True for moving.

Definition at line 813 of file RbDynamixelServo.cpp.

References m_iServoID.

float RoboticsAnimatSim::Robotics::RobotIOControls::RbDynamixelServo::GetMaxSimPos ( )
virtual

Gets the maximum position in radians that the simulation will allow for the joint.

Author
dcofer
Date
5/9/2014
Returns
limit

Definition at line 1305 of file RbDynamixelServo.cpp.

References m_fltMaxSimPos.

int RoboticsAnimatSim::Robotics::RobotIOControls::RbDynamixelServo::GetMaxSimPos_FP ( )
virtual

Gets the maximum position in fixed point that the simulation will allow for the joint.

Author
dcofer
Date
5/9/2014
Returns
limit

Definition at line 1295 of file RbDynamixelServo.cpp.

References m_iMaxSimPos.

float RoboticsAnimatSim::Robotics::RobotIOControls::RbDynamixelServo::GetMinSimPos ( )
virtual

Gets the minimum position in radians that the simulation will allow for the joint.

Author
dcofer
Date
5/9/2014
Returns
limit

Definition at line 1267 of file RbDynamixelServo.cpp.

References m_fltMinSimPos.

int RoboticsAnimatSim::Robotics::RobotIOControls::RbDynamixelServo::GetMinSimPos_FP ( )
virtual

Gets the minimum position in fixed point that the simulation will allow for the joint.

Author
dcofer
Date
5/9/2014
Returns
limit

Definition at line 1257 of file RbDynamixelServo.cpp.

References m_iMinSimPos.

int RoboticsAnimatSim::Robotics::RobotIOControls::RbDynamixelServo::GetModelNumber ( )
virtual

Returns whether the model number of the servo.

Author
dcofer
Date
4/25/2014
Returns
Model number.

Definition at line 868 of file RbDynamixelServo.cpp.

References m_iServoID.

int RoboticsAnimatSim::Robotics::RobotIOControls::RbDynamixelServo::GetReturnDelayTime_FP ( )
virtual

Gets the return delay time of the servo.

Author
dcofer
Date
5/7/2014
Returns
delay time

Definition at line 1048 of file RbDynamixelServo.cpp.

References m_iServoID.

Referenced by ConfigureServo().

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int RoboticsAnimatSim::Robotics::RobotIOControls::RbDynamixelServo::GetTorqueLimit_FP ( )
virtual

Gets the torque limit of the servo in fixed point value.

Author
dcofer
Date
6/12/2014
Returns
limit

Definition at line 1347 of file RbDynamixelServo.cpp.

References m_iServoID.

Referenced by ConfigureServo().

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void RoboticsAnimatSim::Robotics::RobotIOControls::RbDynamixelServo::InitMotorData ( )
virtual

Initializes the internal data on position and velocity from the actual motor.

Author
dcofer
Date
4/25/2014

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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int RoboticsAnimatSim::Robotics::RobotIOControls::RbDynamixelServo::LastGoalPosition_FP ( )
virtual

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.

Author
dcofer
Date
4/25/2014
Returns
Last goal position set.

Definition at line 586 of file RbDynamixelServo.cpp.

References m_iLastGoalPos.

int RoboticsAnimatSim::Robotics::RobotIOControls::RbDynamixelServo::LastGoalVelocity_FP ( )
virtual

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.

Author
dcofer
Date
4/25/2014
Returns
Last goal velocity set.

Definition at line 470 of file RbDynamixelServo.cpp.

References m_iLastGoalVelocity.

void RoboticsAnimatSim::Robotics::RobotIOControls::RbDynamixelServo::Move ( float  fltPos,
float  fltVel 
)
virtual

Moves the motor to the specified position at the given speed.

Author
dcofer
Date
9/11/2014

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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void RoboticsAnimatSim::Robotics::RobotIOControls::RbDynamixelServo::ServoID ( int  iID)
virtual

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.

Author
dcofer
Date
4/25/2014
Parameters
iIDThe ID value to use for communications.

Definition at line 302 of file RbDynamixelServo.cpp.

int RoboticsAnimatSim::Robotics::RobotIOControls::RbDynamixelServo::ServoID ( )
virtual

Gets the servo ID being used for communications.

Author
dcofer
Date
4/25/2014
Returns
ID Value used for communications.

Definition at line 316 of file RbDynamixelServo.cpp.

References m_iServoID.

void RoboticsAnimatSim::Robotics::RobotIOControls::RbDynamixelServo::SetCCWAngleLimit ( float  fltVal)
virtual

Sets the limit for the CCW limit of the servo using radians.

Author
dcofer
Date
5/9/2014
Parameters
fltVallimit

Definition at line 1076 of file RbDynamixelServo.cpp.

References SetCCWAngleLimit_FP().

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void RoboticsAnimatSim::Robotics::RobotIOControls::RbDynamixelServo::SetCCWAngleLimit_FP ( int  iVal)
virtual

Sets the limit for the CCW limit of the servo using fixed point value.

Author
dcofer
Date
5/9/2014
Parameters
iVallimit

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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void RoboticsAnimatSim::Robotics::RobotIOControls::RbDynamixelServo::SetCWAngleLimit ( float  fltVal)
virtual

Sets the limit for the CW limit of the servo using radians.

Author
dcofer
Date
5/9/2014
Parameters
fltVallimit

Definition at line 1161 of file RbDynamixelServo.cpp.

References SetCWAngleLimit_FP().

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void RoboticsAnimatSim::Robotics::RobotIOControls::RbDynamixelServo::SetCWAngleLimit_FP ( int  iVal)
virtual

Sets the limit for the CW limit of the servo using fixed point value.

Author
dcofer
Date
5/9/2014
Parameters
iVallimit

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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void RoboticsAnimatSim::Robotics::RobotIOControls::RbDynamixelServo::SetGoalPosition ( float  fltPos)
virtual

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.

Author
dcofer
Date
4/25/2014
Parameters
fltPosThe new value position in radians.

Definition at line 536 of file RbDynamixelServo.cpp.

References SetGoalPosition_FP().

Referenced by Move().

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void RoboticsAnimatSim::Robotics::RobotIOControls::RbDynamixelServo::SetGoalPosition_FP ( int  iPos)
virtual

Sets the fixed point value of the servo goal position. This is the exact value that will be sent to the servo.

Author
dcofer
Date
4/25/2014
Parameters
iPosThe 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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void RoboticsAnimatSim::Robotics::RobotIOControls::RbDynamixelServo::SetGoalVelocity ( float  fltVelocity)
virtual

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.

Author
dcofer
Date
4/25/2014
Parameters
fltVelocityThe 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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void RoboticsAnimatSim::Robotics::RobotIOControls::RbDynamixelServo::SetGoalVelocity_FP ( int  iVelocity)
virtual

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.

Author
dcofer
Date
4/25/2014
Parameters
iVelocityThe 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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void RoboticsAnimatSim::Robotics::RobotIOControls::RbDynamixelServo::SetMaximumVelocity ( )
virtual

Sets the servo goal speed to 0 for maximum velocity.

Author
dcofer
Date
4/25/2014

Definition at line 367 of file RbDynamixelServo.cpp.

References m_iLastGoalVelocity, and m_iServoID.

Referenced by Move().

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void RoboticsAnimatSim::Robotics::RobotIOControls::RbDynamixelServo::SetMaxSimPos ( float  fltVal)
virtual

Sets the maximum position that the simulation will allow for this joint in radians.

Author
dcofer
Date
5/9/2014
Parameters
fltVallimit

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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void RoboticsAnimatSim::Robotics::RobotIOControls::RbDynamixelServo::SetMinSimPos ( float  fltVal)
virtual

Sets the minimum position that the simulation will allow for this joint in radians.

Author
dcofer
Date
5/9/2014
Parameters
fltVallimit

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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void RoboticsAnimatSim::Robotics::RobotIOControls::RbDynamixelServo::SetNextGoalPosition ( float  fltPos)
virtual

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.

Author
dcofer
Date
4/25/2014
Parameters
fltPosThe new value position in radians.

Definition at line 554 of file RbDynamixelServo.cpp.

References SetNextGoalPosition_FP().

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void RoboticsAnimatSim::Robotics::RobotIOControls::RbDynamixelServo::SetNextGoalPosition_FP ( int  iPos)
virtual

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.

Author
dcofer
Date
4/25/2014
Parameters
iPosThe 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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void RoboticsAnimatSim::Robotics::RobotIOControls::RbDynamixelServo::SetNextGoalVelocity ( float  fltVelocity)
virtual

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.

Author
dcofer
Date
4/25/2014
Parameters
fltVelocityThe new value velocity in rad/s.

Definition at line 434 of file RbDynamixelServo.cpp.

References ConvertFloatVelocity(), and SetNextGoalVelocity_FP().

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void RoboticsAnimatSim::Robotics::RobotIOControls::RbDynamixelServo::SetNextGoalVelocity_FP ( int  iVelocity)
virtual

Sets the fixed point value of the servo velocity for the next time the IO for this servo is processed.

Author
dcofer
Date
4/25/2014
Parameters
iVelocityThe 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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void RoboticsAnimatSim::Robotics::RobotIOControls::RbDynamixelServo::SetNextMaximumVelocity ( )
virtual

Sets the servo goal speed to 0 for maximum velocity the next time the IO for this servo is processed.

Author
dcofer
Date
4/25/2014

Definition at line 384 of file RbDynamixelServo.cpp.

References m_iLastGoalVelocity, and m_iNextGoalVelocity.

void RoboticsAnimatSim::Robotics::RobotIOControls::RbDynamixelServo::SetReturnDelayTime_FP ( int  iVal)
virtual

Sets the return delay time of the servo.

Author
dcofer
Date
5/7/2014
Parameters
iValdelay time

Definition at line 1034 of file RbDynamixelServo.cpp.

References m_iServoID.

Referenced by ConfigureServo().

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void RoboticsAnimatSim::Robotics::RobotIOControls::RbDynamixelServo::SetTorqueLimit_FP ( int  iVal)
virtual

Sets the torque limit of the servo using fixed point value.

Author
dcofer
Date
6/12/2014
Parameters
iVallimit

Definition at line 1333 of file RbDynamixelServo.cpp.

References m_iMaxLoadFP, m_iMinLoadFP, and m_iServoID.

void RoboticsAnimatSim::Robotics::RobotIOControls::RbDynamixelServo::ShutdownMotor ( )
virtual

Shuts the motor down cleanly and ensures that it is not continuing to move after processing has stopped.

Author
dcofer
Date
4/25/2014

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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void RoboticsAnimatSim::Robotics::RobotIOControls::RbDynamixelServo::Stop ( )
virtual

Attempts to stop the motor at its current position.

Author
dcofer
Date
8/28/2014

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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float RoboticsAnimatSim::Robotics::RobotIOControls::RbDynamixelServo::TranslationRange ( )
virtual

Gets the the total range of translation for a prismatic joint (meters).

Author
dcofer
Date
8/8/2014
Returns
range

Definition at line 1090 of file RbDynamixelServo.cpp.

References m_fltTranslationRange.

void RoboticsAnimatSim::Robotics::RobotIOControls::RbDynamixelServo::TranslationRange ( float  fltVal)
virtual

Sets the total range for translation of a prismatic joint.

Author
dcofer
Date
8/8/2014
Parameters
fltValrange

Definition at line 1100 of file RbDynamixelServo.cpp.

References m_fltTranslationRange, and StdUtils::Std_IsAboveMin().

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Member Data Documentation

bool RoboticsAnimatSim::Robotics::RobotIOControls::RbDynamixelServo::m_bNeedSetVelStopPos
protected

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.

bool RoboticsAnimatSim::Robotics::RobotIOControls::RbDynamixelServo::m_bQueryMotorData
protected

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().


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