rec::robotino::api2::GrapplerReadings Class Reference

Sensor readings of Robotino's (optional) Grappler. More...

#include <GrapplerReadings.h>

Public Member Functions
	GrapplerReadings ()
virtual	~GrapplerReadings ()
bool	isEmpty () const
void	clear ()

Public Attributes
float	angles [maxNumServos]
float	speeds [maxNumServos]
int	errors [maxNumServos]
int	channels [maxNumServos]
int	ids [maxNumServos]
float	cwAxesLimits [maxNumServos]
float	ccwAxesLimits [maxNumServos]
unsigned int	numServos
unsigned int	sequenceNumber
bool	isTorqueEnabled

Static Public Attributes
static const unsigned int	maxNumServos = 16

Detailed Description

Sensor readings of Robotino's (optional) Grappler.

Constructor & Destructor Documentation

rec::robotino::api2::GrapplerReadings::GrapplerReadings ( )

inline

Constructs an empty GrapplerReadings instance.

virtual rec::robotino::api2::GrapplerReadings::~GrapplerReadings ( )

inlinevirtual

Destructor

Member Function Documentation

void rec::robotino::api2::GrapplerReadings::clear ( )

inline

Removes all information stored in this object.

bool rec::robotino::api2::GrapplerReadings::isEmpty ( ) const

inline

Returns

true if this object does not store any information.

Member Data Documentation

float rec::robotino::api2::GrapplerReadings::angles[maxNumServos]

Servo angles in deg

float rec::robotino::api2::GrapplerReadings::ccwAxesLimits[maxNumServos]

The CCW limit of the axes in deg.

int rec::robotino::api2::GrapplerReadings::channels[maxNumServos]

The channels of the axes.

float rec::robotino::api2::GrapplerReadings::cwAxesLimits[maxNumServos]

The CW limit of the axes in deg.

int rec::robotino::api2::GrapplerReadings::errors[maxNumServos]

Servo errors. The error is a bit mask encoding the following errors Bit 0 - Input voltage error. Bit 1 - Angle limit error Bit 2 - Overheating error Bit 3 - range error Bit 4 - checksum error Bit 5 - Overload error Bit 6 - Instruction error Bit 7 - na

int rec::robotino::api2::GrapplerReadings::ids[maxNumServos]

The ids of the axes.

bool rec::robotino::api2::GrapplerReadings::isTorqueEnabled

Torque state.

const unsigned int rec::robotino::api2::GrapplerReadings::maxNumServos = 16

static

Maximum number of servos

unsigned int rec::robotino::api2::GrapplerReadings::numServos

The number of servos.

unsigned int rec::robotino::api2::GrapplerReadings::sequenceNumber

Sequence number of this data packet.

float rec::robotino::api2::GrapplerReadings::speeds[maxNumServos]

Servo speeds in rpm

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

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