#include <MotorArray.h>

Inheritance diagram for rec::robotino::api2::MotorArray:

Public Member Functions
	MotorArray ()

virtual	~MotorArray ()

void	setComId (const ComId &id)

void	setSpeedSetPoints (const float *speeds, unsigned int size)

void	actualVelocities (float *readings) const

void	actualPositions (int *readings) const

void	motorCurrents (float *readings) const

virtual void	velocitiesChangedEvent (const float *velocities, unsigned int size)

virtual void	positionsChangedEvent (const int *positions, unsigned int size)

virtual void	currentsChangedEvent (const float *currents, unsigned int size)

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

virtual	~ComObject ()

ComId	comId () const

Static Public Member Functions
static unsigned int	numMotors ()

Friends
class	MotorArrayImpl

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

Detailed Description

Represents a single MotorArray.

Constructor & Destructor Documentation

rec::robotino::api2::MotorArray::MotorArray ( )

Constructs a MotorArray instance.

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

virtual

Destructor

Member Function Documentation

void rec::robotino::api2::MotorArray::actualPositions ( int * readings ) const

Retrieves the actual position of this MotorArray.

Example:

std::vector<float> vec( numMotors() );
actualPositions( &vec[0] );
for( int i=0; i<vec.size(); ++i )
{
  std::cout << "actual position[" << i << "]: " << vec[i] << std::endl;
}

Parameters

[out] readings Pass an array of size numMotors() to store actual positions of all motors

Exceptions

RobotinoException if the current communication object is invalid.

Remarks: This function is thread safe

void rec::robotino::api2::MotorArray::actualVelocities ( float * readings ) const

Retrieves the actual velocities of this MotorArray.

Example:

std::vector<float> vec( numMotors() );
actualVelocities( &vec[0] );
for( int i=0; i<vec.size(); ++i )
{
  std::cout << "actual velocity[" << i << "]: " << vec[i] << " rpm" << std::endl;
}

Parameters

[out] readings Pass an array of size numMotors() to store velocities of all motors in rpm.

Exceptions

RobotinoException if the current communication object is invalid.

Remarks: This function is thread safe

virtual void rec::robotino::api2::MotorArray::currentsChangedEvent	(	const float *	currents,
		unsigned int	size
	)

virtual

Called when new currents are available.

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

See also: Com::processEvents

void rec::robotino::api2::MotorArray::motorCurrents ( float * readings ) const

Retrieves the current of this MotorArray.

Example:

std::vector<float> vec( numMotors() );
motorCurrents( &vec[0] );
for( int i=0; i<vec.size(); ++i )
{
  std::cout << "motor current[" << i << "]: " << vec[i] << " A" << std::endl;
}

Parameters

[out] readings Pass an array of size numMotors() to store currents of all motors in A

Exceptions

RobotinoException if the current communication object is invalid.

Remarks: This function is thread safe

static unsigned int rec::robotino::api2::MotorArray::numMotors ( )

static

Returns: Returns the number of drive MotorArrays on Robotino

Exceptions

nothing

Remarks: This function is thread safe

virtual void rec::robotino::api2::MotorArray::positionsChangedEvent	(	const int *	positions,
		unsigned int	size
	)

virtual

Called when new positions are available.

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

See also: Com::processEvents

void rec::robotino::api2::MotorArray::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 safe

void rec::robotino::api2::MotorArray::setSpeedSetPoints	(	const float *	speeds,
		unsigned int	size
	)

Sets the setpoint speed of this MotorArray.

Parameters

speeds	Array of set point speed in rpm for all motors.
size	Size of speeds array.

Exceptions

RobotinoException if the current communication object is invalid.

Remarks: This function is thread safe

virtual void rec::robotino::api2::MotorArray::velocitiesChangedEvent	(	const float *	velocities,
		unsigned int	size
	)

virtual

Called when new velocities are available.

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/MotorArray.h

Public Member Functions

Static Public Member Functions

Friends

Additional Inherited Members

Detailed Description

Constructor & Destructor Documentation

Member Function Documentation