Access to Robotino's (optional) compact version of the Bionic Handling Assistant. See Robotino XT. More...

#include <CompactBHA.h>

Inheritance diagram for rec::robotino::api2::CompactBHA:

Public Member Functions
void	setComId (const ComId &id)

void	setPressures (const float *pressures)

void	setCompressorsEnabled (bool enabled)

void	setWaterDrainValve (bool open)

void	setGripperValve1 (bool open)

void	setGripperValve2 (bool open)

void	pressures (float *readings) const

bool	pressureSensor () const

void	stringPots (float *readings) const

float	foilPot () const

virtual void	pressuresChangedEvent (const float *pressures, unsigned int size)

virtual void	pressureSensorChangedEvent (bool pressureSensor)

virtual void	stringPotsChangedEvent (const float *readings, unsigned int size)

virtual void	foilPotChangedEvent (float value)

Public Member Functions inherited from rec::robotino::api2::ComObject
	ComObject ()

virtual	~ComObject ()

ComId	comId () const

Friends
class	CompactBHAImpl

Additional Inherited Members
Protected Attributes inherited from rec::robotino::api2::ComObject
ComId	_comID

Detailed Description

Access to Robotino's (optional) compact version of the Bionic Handling Assistant. See Robotino XT.

Member Function Documentation

float rec::robotino::api2::CompactBHA::foilPot ( ) const

Read foil potentiometer

Returns: The current reading from the foil pot.

Exceptions

RobotinoException if given com object is invalid.

virtual void rec::robotino::api2::CompactBHA::foilPotChangedEvent ( float value )

virtual

Called when a signal from the foil potentiometer is received.

Parameters

value Signal from the foil pot.

Exceptions

nothing.

Remarks: This function is called from the thread in which Com::processEvents() is called.

See also: Com::processEvents

void rec::robotino::api2::CompactBHA::pressures ( float * readings ) const

Read current pressure of all bellows

Parameters

[out] readings Array of pressures in bar. Size of this array must be 8.

Exceptions

RobotinoException if given com object is invalid.

virtual void rec::robotino::api2::CompactBHA::pressuresChangedEvent	(	const float *	pressures,
		unsigned int	size
	)

virtual

Called when pressure readings from the CBHA are received.

Parameters

pressures	Array of current pressures in bar.
size	Size of pressures array.

Exceptions

nothing.

Remarks: This function is called from the thread in which Com::processEvents() is called.

See also: Com::processEvents

bool rec::robotino::api2::CompactBHA::pressureSensor ( ) const

Read pressure sensor

Returns: The signal from the pressure sensor

Exceptions

RobotinoException if given com object is invalid.

virtual void rec::robotino::api2::CompactBHA::pressureSensorChangedEvent ( bool pressureSensor )

virtual

Called when a signal from the pressure sensor is received.

Parameters

pressureSensor Signal from the pressure sensor.

Exceptions

nothing.

Remarks: This function is called from the thread in which Com::processEvents() is called.

See also: Com::processEvents

void rec::robotino::api2::CompactBHA::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 camera.

void rec::robotino::api2::CompactBHA::setCompressorsEnabled ( bool enabled )

Turns compressors on and off. If on, they do only run when pressure is too low.

Parameters

enabled State of compressors.

Exceptions

RobotinoException if given com object is invalid.

void rec::robotino::api2::CompactBHA::setGripperValve1 ( bool open )

Opens and closes the gripper valve 1.

Parameters

open	State of the valve.

Exceptions

RobotinoException if given com object is invalid.

void rec::robotino::api2::CompactBHA::setGripperValve2 ( bool open )

Opens and closes the gripper valve 2.

Parameters

open	State of the valve.

Exceptions

RobotinoException if given com object is invalid.

void rec::robotino::api2::CompactBHA::setPressures ( const float * pressures )

Sets pressure of all bellows

Parameters

pressures Array of pressures in bar. Size of this array must be 8.

Exceptions

RobotinoException if given com object is invalid.

void rec::robotino::api2::CompactBHA::setWaterDrainValve ( bool open )

Opens and closes the water drain valve.

Parameters

open	State of the valve.

Exceptions

RobotinoException if given com object is invalid.

void rec::robotino::api2::CompactBHA::stringPots ( float * readings ) const

Read string potentiometers

Parameters

[out] readings Array of readings. Size of this array must be 6.

Exceptions

RobotinoException if given com object is invalid.

virtual void rec::robotino::api2::CompactBHA::stringPotsChangedEvent	(	const float *	readings,
		unsigned int	size
	)

virtual

Called when signals from the string potentiometers are received.

Parameters

readings	Array of signals from the string pots.
size	Size of values array.

Exceptions

nothing.

Remarks: This function is called from the thread in which Com::processEvents() is called.

See also: Com::processEvents

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

C:/srcs/git/openrobotino/api2/lib/rec/robotino/api2/CompactBHA.h

Public Member Functions

Friends

Additional Inherited Members

Detailed Description

Member Function Documentation