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

#include <Grappler.h>

Inheritance diagram for rec::robotino::api2::Grappler:

Public Member Functions
void	setComId (const ComId &id)

void	processEvents ()

bool	setAxis (unsigned int axis, float angle, float speed)

bool	setAxes (const float angles, unsigned int anglesSize, const float speeds, unsigned int speedsSize)

bool	setPowerEnabled (unsigned int channel, bool enable)

void	toggleTorque ()

GrapplerReadings	readings () const

GrapplerReadings	info () const

virtual void	servoInfoEvent (const rec::robotino::api2::GrapplerReadings &info)

virtual void	readingsEvent (const rec::robotino::api2::GrapplerReadings &readings)

virtual void	storePositionsEvent (const rec::robotino::api2::GrapplerReadings &readings)

virtual void	toggleTorqueEvent ()

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

virtual	~ComObject ()

ComId	comId () const

Friends
class	GrapplerImpl

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

Detailed Description

Access to Robotino's (optional) Grappler.

Member Function Documentation

GrapplerReadings rec::robotino::api2::Grappler::info ( ) const

Get the current info. Readings contain

channels The channel of the servo found.
ids The servos id.
cwAxesLimits The servos clockwise axis limit.
ccwAxesLimits The servos counter-clockwise axis limit.

Returns: Grappler servo info.

Exceptions

nothing

Remarks: This function is thread save

void rec::robotino::api2::Grappler::processEvents ( )

Call this function from your main thread to get the virtual Grappler functions called. The virtual functions are called directly by a call of this function

Exceptions

nothing

GrapplerReadings rec::robotino::api2::Grappler::readings ( ) const

Get the current readings.

Returns

Grappler readings.

channels The channel of the servo found.
ids The servos id.
angles The servos current angle.
speeds The servos current speed.
errors The servos current error (if any).

Exceptions

nothing

Remarks: This function is thread save

virtual void rec::robotino::api2::Grappler::readingsEvent ( const rec::robotino::api2::GrapplerReadings & readings )

virtual

Called when new Grappler data is available.

Parameters

readings The sensor readings.

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

See also: Com::processEvents

virtual void rec::robotino::api2::Grappler::servoInfoEvent ( const rec::robotino::api2::GrapplerReadings & info )

virtual

Called when servos are detected.

Parameters

info	Servo info.

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

See also: Com::processEvents

bool rec::robotino::api2::Grappler::setAxes	(	const float *	angles,
		unsigned int	anglesSize,
		const float *	speeds,
		unsigned int	speedsSize
	)

Set position and speed set-points for all axes.

Parameters

angles	These are the position set-points in deg for all axes
anglesSize	The size of the angles array
speeds	These are the speed set-points in rpm for all axes
speedsSize	The size of the speeds array

Returns

Returns true on success. Returns false if

anglesSize != speedsSize
anglesSize >= number of servos detected

Exceptions

RobotinoException if the underlying communication object is invalid

Remarks: This function is thread save

bool rec::robotino::api2::Grappler::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

Returns: Returns true on success. Returns false if axis is out of range.

Exceptions

RobotinoException if the underlying communication object is invalid

Remarks: This function is thread save

void rec::robotino::api2::Grappler::setComId ( const ComId & id )

Sets the associated communication object.

Parameters

id	The id of the associated communication object.

Exceptions

RobotinoException if given id is invalid.

Remarks: This function is thread save

bool rec::robotino::api2::Grappler::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

Returns: Returns true on success. Returns false if channel is out of range, i.e. > 2.

Exceptions

RobotinoException if the underlying communication object is invalid

Remarks: This function is thread save

virtual void rec::robotino::api2::Grappler::storePositionsEvent ( const rec::robotino::api2::GrapplerReadings & readings )

virtual

Called when new Grappler data is available.

Parameters

readings The sensor readings.

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

See also: Com::processEvents

void rec::robotino::api2::Grappler::toggleTorque ( )

Toggle the servo torque status.

Exceptions

RobotinoException if the underlying communication object is invalid

Remarks: This function is thread save

virtual void rec::robotino::api2::Grappler::toggleTorqueEvent ( )

virtual

Called when toggle torque button is pressed at the grappler

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/Grappler.h

Public Member Functions

Friends

Additional Inherited Members

Detailed Description

Member Function Documentation