rec::robotino::com::Manipulator Class Reference

Access to Robotino's (optional) manipulator. More...

#include <Manipulator.h>

List of all members.

Public Member Functions
void	setComId (const ComId &id)
void	connectToServer ()
void	disconnectFromServer ()
void	setAddress (const std::string &address)
std::string	address () const
bool	isConnected () const
void	setAxis (unsigned int axis, float angle, float speed)
void	setAxes (const std::vector< float > &angles, const std::vector< float > &speeds)
void	setPowerEnabled (unsigned int channel, bool enable)
void	toggleTorque ()
virtual void	servoInfoCallback (const int numServos)
virtual void	readingsCallback (const ManipulatorReadings &readings)
virtual void	limitsCallback (const ManipulatorLimits &limits)
virtual void	error (const std::string &message)
virtual void	connected ()
virtual void	disconnected ()

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Detailed Description

Access to Robotino's (optional) manipulator.

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Member Function Documentation

void rec::robotino::com::Manipulator::setComId

(

const ComId &

id

)

Sets the associated communication object.

Parameters:

id

The id of the associated communication object.

Exceptions:

RobotinoException

If the given communication object doesn't provide a manipulator.

void rec::robotino::com::Manipulator::connectToServer

(

)

Normally the manipulator's data exchange client is connected to Robotino by calling Com::connect(). For debugging you might want to only connect to the manipulator server on Robotino.

See also:

Com::connect

void rec::robotino::com::Manipulator::disconnectFromServer

(

)

Normally the manipulator's data exchange client is disconnected from Robotino by calling Com::disconnect(). For debugging you might want to only disconnect from the manipulator server on Robotino.

See also:

Com::disconnect

void rec::robotino::com::Manipulator::setAddress

(

const std::string &

address

)

Normally the address of the manipulator server is given implicitly by calling Com::setAddress For debugging you might want to set the address explicitly.

See also:

Com::setAddress

void rec::robotino::com::Manipulator::setAxis	(	unsigned int	axis,
		float	angle,
		float	speed
	)

Set position and speed set-point for one axis.

Parameters:

	axis	Axis number. Axes are counted starting with 0.
	angle	This is the position set-point in deg
	speed	This is the speed set-point in rpm

void rec::robotino::com::Manipulator::setAxes	(	const std::vector< float > &	angles,
		const std::vector< float > &	speeds
	)

Set position and speed set-points for all axes.

Parameters:

	angles	These are the position set-points in deg for all axes
	speeds	These are the speed set-points in rpm for all axes

void rec::robotino::com::Manipulator::setPowerEnabled	(	unsigned int	channel,
		bool	enable
	)

Enable/Disable power of a servo channel

Parameters:

	channel	0 - RX64 1 - RX28 2 - RX10
	enable	True - enable False - disable

void rec::robotino::com::Manipulator::toggleTorque

(

)

Toggle the servo torque status.

virtual void rec::robotino::com::Manipulator::readingsCallback

(

const ManipulatorReadings &

readings

)

[virtual]

Called when new manipulator data is available. The sensor readings.

virtual void rec::robotino::com::Manipulator::limitsCallback

(

const ManipulatorLimits &

limits

)

[virtual]

Called when axes limits are received from manipulator Axes limits

virtual void rec::robotino::com::Manipulator::error

(

const std::string &

message

)

[virtual]

Called when an error occured The error message

virtual void rec::robotino::com::Manipulator::connected

(

)

[virtual]

Called when connected to armd

virtual void rec::robotino::com::Manipulator::disconnected

(

)

[virtual]

Called when disconnected from armd

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

• /home/verbeek/openrobotino_src/openrobotino1/lib/rec/robotino/com/Manipulator.h