YARP
Yet Another Robot Platform
 
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RemoteControlBoard.h
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1/*
2 * SPDX-FileCopyrightText: 2006-2021 Istituto Italiano di Tecnologia (IIT)
3 * SPDX-FileCopyrightText: 2006-2010 RobotCub Consortium
4 * SPDX-License-Identifier: BSD-3-Clause
5 */
6
7#ifndef YARP_DEV_REMOTECONTROLBOARD_REMOTECONTROLBOARD_H
8#define YARP_DEV_REMOTECONTROLBOARD_REMOTECONTROLBOARD_H
9
10#include <yarp/sig/Vector.h>
11
12#include <yarp/dev/IPidControl.h>
13#include <yarp/dev/IPositionControl.h>
14#include <yarp/dev/IVelocityControl.h>
15#include <yarp/dev/IEncodersTimed.h>
16#include <yarp/dev/IMotorEncoders.h>
17#include <yarp/dev/IMotor.h>
18#include <yarp/dev/IAmplifierControl.h>
19#include <yarp/dev/IControlLimits.h>
20#include <yarp/dev/IAxisInfo.h>
21#include <yarp/dev/IPreciselyTimed.h>
22#include <yarp/dev/IControlCalibration.h>
23#include <yarp/dev/ITorqueControl.h>
24#include <yarp/dev/IImpedanceControl.h>
25#include <yarp/dev/IControlMode.h>
26#include <yarp/dev/DeviceDriver.h>
27#include <yarp/dev/IPositionDirect.h>
28#include <yarp/dev/IInteractionMode.h>
29#include <yarp/dev/IRemoteCalibrator.h>
30#include <yarp/dev/IRemoteVariables.h>
31#include <yarp/dev/IPWMControl.h>
32#include <yarp/dev/ICurrentControl.h>
33#include <yarp/dev/IJointFault.h>
34#include <yarp/dev/ControlBoardHelpers.h>
35
36#include "stateExtendedReader.h"
37
38struct ProtocolVersion
39{
40 int major{0};
41 int minor{0};
42 int tweak{0};
43};
44
45class DiagnosticThread;
46
47
66class RemoteControlBoard :
67 public yarp::dev::IPidControl,
68 public yarp::dev::IPositionControl,
69 public yarp::dev::IVelocityControl,
70 public yarp::dev::IEncodersTimed,
71 public yarp::dev::IMotorEncoders,
72 public yarp::dev::IMotor,
73 public yarp::dev::IAmplifierControl,
74 public yarp::dev::IControlLimits,
75 public yarp::dev::IAxisInfo,
76 public yarp::dev::IPreciselyTimed,
77 public yarp::dev::IControlCalibration,
78 public yarp::dev::ITorqueControl,
79 public yarp::dev::IImpedanceControl,
80 public yarp::dev::IControlMode,
81 public yarp::dev::DeviceDriver,
82 public yarp::dev::IPositionDirect,
83 public yarp::dev::IInteractionMode,
84 public yarp::dev::IRemoteCalibrator,
85 public yarp::dev::IRemoteVariables,
86 public yarp::dev::IPWMControl,
87 public yarp::dev::ICurrentControl,
88 public yarp::dev::IJointFault
89{
90protected:
91 yarp::os::Port rpc_p;
92 yarp::os::Port command_p;
93 DiagnosticThread *diagnosticThread{nullptr};
94
95 yarp::os::PortReaderBuffer<yarp::sig::Vector> state_buffer;
96 yarp::os::PortWriterBuffer<CommandMessage> command_buffer;
97 bool writeStrict_singleJoint{true};
98 bool writeStrict_moreJoints{false};
99
100 // Buffer associated to the extendedOutputStatePort port; in this case we will use the type generated
101 // from the YARP .thrift file
102// yarp::os::PortReaderBuffer<jointData> extendedInputState_buffer; // Buffer storing new data
103 StateExtendedInputPort extendedIntputStatePort; // Buffered port storing new data
104 std::mutex extendedPortMutex;
105 yarp::dev::impl::jointData last_singleJoint; // tmp to store last received data for a particular joint
106// yarp::os::Port extendedIntputStatePort; // Port /stateExt:i reading the state of the joints
107 yarp::dev::impl::jointData last_wholePart; // tmp to store last received data for whole part
108
109 std::string remote;
110 std::string local;
111 mutable Stamp lastStamp; //this is shared among all calls that read encoders
112 size_t nj{0};
113 bool njIsKnown{false};
114
115 ProtocolVersion protocolVersion;
116
117 // Check for number of joints, if needed.
118 // This is to allow for delayed connection to the remote control board.
119 bool isLive();
120
121 bool checkProtocolVersion(bool ignore);
122
123 bool send1V(int v);
124 bool send2V(int v1, int v2);
125 bool send2V1I(int v1, int v2, int axis);
126 bool send1V1I(int v, int axis);
127 bool send3V1I(int v1, int v2, int v3, int j);
128
134 bool set1V(int code);
135
143 bool set1V2D(int code, double v);
144
152 bool set1V1I(int code, int v);
153
160 bool get1V1D(int code, double& v) const;
161
168 bool get1V1I(int code, int& v) const;
169
177 bool set1V1I1D(int code, int j, double val);
178
179 bool set1V1I2D(int code, int j, double val1, double val2);
180
187 bool set1VDA(int v, const double *val);
188 bool set2V1DA(int v1, int v2, const double *val);
189 bool set2V2DA(int v1, int v2, const double *val1, const double *val2);
190 bool set1V1I1IA1DA(int v, const int len, const int *val1, const double *val2);
191 bool set2V1I1D(int v1, int v2, int axis, double val);
192 bool setValWithPidType(int voc, PidControlTypeEnum type, int axis, double val);
193 bool setValWithPidType(int voc, PidControlTypeEnum type, const double* val_arr);
194 bool getValWithPidType(int voc, PidControlTypeEnum type, int j, double *val);
195 bool getValWithPidType(int voc, PidControlTypeEnum type, double *val);
196 bool set2V1I(int v1, int v2, int axis);
197
205 bool get1V1I1D(int v, int j, double *val);
206
214 bool get1V1I1I(int v, int j, int *val);
215 bool get2V1I1D(int v1, int v2, int j, double *val);
216 bool get2V1I2D(int v1, int v2, int j, double *val1, double *val2);
217 bool get1V1I2D(int code, int axis, double *v1, double *v2);
218
226 bool get1V1I1B(int v, int j, bool &val);
227 bool get1V1I1IA1B(int v, const int len, const int *val1, bool &retVal);
228 bool get2V1I1IA1DA(int v1, int v2, const int n_joints, const int *joints, double *retVals, std::string functionName = "");
229 bool get1V1B(int v, bool &val);
230
237 bool get1VIA(int v, int *val);
238
245 bool get1VDA(int v, double *val);
246
253 bool get1V1DA(int v1, double *val);
254
262 bool get2V1DA(int v1, int v2, double *val);
263
264 bool get2V2DA(int v1, int v2, double *val1, double *val2);
265
266 bool get1V1I1S(int code, int j, std::string &name);
267
268 bool get1V1I1IA1DA(int v, const int len, const int *val1, double *val2);
269
270public:
271 RemoteControlBoard() = default;
272 RemoteControlBoard(const RemoteControlBoard&) = delete;
273 RemoteControlBoard(RemoteControlBoard&&) = delete;
274 RemoteControlBoard& operator=(const RemoteControlBoard&) = delete;
275 RemoteControlBoard& operator=(RemoteControlBoard&&) = delete;
276 ~RemoteControlBoard() override = default;
277
278 bool open(Searchable& config) override;
279
284 bool close() override;
285
286 bool getAxes(int *ax) override;
287
288 // IPidControl
289 bool setPid(const PidControlTypeEnum& pidtype, int j, const Pid &pid) override;
290 bool setPids(const PidControlTypeEnum& pidtype, const Pid *pids) override;
291 bool setPidReference(const PidControlTypeEnum& pidtype, int j, double ref) override;
292 bool setPidReferences(const PidControlTypeEnum& pidtype, const double *refs) override;
293 bool setPidErrorLimit(const PidControlTypeEnum& pidtype, int j, double limit) override;
294 bool setPidErrorLimits(const PidControlTypeEnum& pidtype, const double *limits) override;
295 bool getPidError(const PidControlTypeEnum& pidtype, int j, double *err) override;
296 bool getPidErrors(const PidControlTypeEnum& pidtype, double *errs) override;
297 bool getPid(const PidControlTypeEnum& pidtype, int j, Pid *pid) override;
298 bool getPids(const PidControlTypeEnum& pidtype, Pid *pids) override;
299 bool getPidReference(const PidControlTypeEnum& pidtype, int j, double *ref) override;
300 bool getPidReferences(const PidControlTypeEnum& pidtype, double *refs) override;
301 bool getPidErrorLimit(const PidControlTypeEnum& pidtype, int j, double *limit) override;
302 bool getPidErrorLimits(const PidControlTypeEnum& pidtype, double *limits) override;
303 bool resetPid(const PidControlTypeEnum& pidtype, int j) override;
304 bool disablePid(const PidControlTypeEnum& pidtype, int j) override;
305 bool enablePid(const PidControlTypeEnum& pidtype, int j) override;
306 bool isPidEnabled(const PidControlTypeEnum& pidtype, int j, bool* enabled) override;
307 bool getPidOutput(const PidControlTypeEnum& pidtype, int j, double *out) override;
308 bool getPidOutputs(const PidControlTypeEnum& pidtype, double *outs) override;
309 bool setPidOffset(const PidControlTypeEnum& pidtype, int j, double v) override;
310
311 // IEncoder
312 bool resetEncoder(int j) override;
313 bool resetEncoders() override;
314 bool setEncoder(int j, double val) override;
315 bool setEncoders(const double *vals) override;
316 bool getEncoder(int j, double *v) override;
317 bool getEncoderTimed(int j, double *v, double *t) override;
318 bool getEncoders(double *encs) override;
319 bool getEncodersTimed(double *encs, double *ts) override;
320 bool getEncoderSpeed(int j, double *sp) override;
321 bool getEncoderSpeeds(double *spds) override;
322 bool getEncoderAcceleration(int j, double *acc) override;
323 bool getEncoderAccelerations(double *accs) override;
324
325 // IRemoteVariable
326 bool getRemoteVariable(std::string key, yarp::os::Bottle& val) override;
327 bool setRemoteVariable(std::string key, const yarp::os::Bottle& val) override;
328 bool getRemoteVariablesList(yarp::os::Bottle* listOfKeys) override;
329
330 // IMotor
331 bool getNumberOfMotors(int *num) override;
332 bool getTemperature(int m, double* val) override;
333 bool getTemperatures(double *vals) override;
334 bool getTemperatureLimit (int m, double* val) override;
335 bool setTemperatureLimit (int m, const double val) override;
336 bool getGearboxRatio(int m, double* val) override;
337 bool setGearboxRatio(int m, const double val) override;
338
339 // IMotorEncoder
340 bool resetMotorEncoder(int j) override;
341 bool resetMotorEncoders() override;
342 bool setMotorEncoder(int j, const double val) override;
343 bool setMotorEncoderCountsPerRevolution(int m, const double cpr) override;
344 bool getMotorEncoderCountsPerRevolution(int m, double *cpr) override;
345 bool setMotorEncoders(const double *vals) override;
346 bool getMotorEncoder(int j, double *v) override;
347 bool getMotorEncoderTimed(int j, double *v, double *t) override;
348 bool getMotorEncoders(double *encs) override;
349 bool getMotorEncodersTimed(double *encs, double *ts) override;
350 bool getMotorEncoderSpeed(int j, double *sp) override;
351 bool getMotorEncoderSpeeds(double *spds) override;
352 bool getMotorEncoderAcceleration(int j, double *acc) override;
353 bool getMotorEncoderAccelerations(double *accs) override;
354 bool getNumberOfMotorEncoders(int *num) override;
355
356 // IPreciselyTimed
357 Stamp getLastInputStamp() override;
358
359 // IPositionControl
360 bool positionMove(int j, double ref) override;
361 bool positionMove(const int n_joint, const int *joints, const double *refs) override;
362 bool positionMove(const double *refs) override;
363 bool getTargetPosition(const int joint, double *ref) override;
364 bool getTargetPositions(double *refs) override;
365 bool getTargetPositions(const int n_joint, const int *joints, double *refs) override;
366 bool relativeMove(int j, double delta) override;
367 bool relativeMove(const int n_joint, const int *joints, const double *refs) override;
368 bool relativeMove(const double *deltas) override;
369 bool checkMotionDone(int j, bool *flag) override;
370 bool checkMotionDone(const int n_joint, const int *joints, bool *flag) override;
371 bool checkMotionDone(bool *flag) override;
372 bool setRefSpeed(int j, double sp) override;
373 bool setRefSpeeds(const int n_joint, const int *joints, const double *spds) override;
374 bool setRefSpeeds(const double *spds) override;
375 bool setRefAcceleration(int j, double acc) override;
376 bool setRefAccelerations(const int n_joint, const int *joints, const double *accs) override;
377 bool setRefAccelerations(const double *accs) override;
378 bool getRefSpeed(int j, double *ref) override;
379 bool getRefSpeeds(const int n_joint, const int *joints, double *spds) override;
380 bool getRefSpeeds(double *spds) override;
381 bool getRefAcceleration(int j, double *acc) override;
382 bool getRefAccelerations(const int n_joint, const int *joints, double *accs) override;
383 bool getRefAccelerations(double *accs) override;
384 bool stop(int j) override;
385 bool stop(const int len, const int *val1) override;
386 bool stop() override;
387
388 // IJointFault
389 bool getLastJointFault(int j, int& fault, std::string& message) override;
390
391 // IVelocityControl
392 bool velocityMove(int j, double v) override;
393 bool velocityMove(const double *v) override;
394
395 // IAmplifierControl
396 bool enableAmp(int j) override;
397 bool disableAmp(int j) override;
398 bool getAmpStatus(int *st) override;
399 bool getAmpStatus(int j, int *st) override;
400 bool setMaxCurrent(int j, double v) override;
401 bool getMaxCurrent(int j, double *v) override;
402 bool getNominalCurrent(int m, double *val) override;
403 bool setNominalCurrent(int m, const double val) override;
404 bool getPeakCurrent(int m, double *val) override;
405 bool setPeakCurrent(int m, const double val) override;
406 bool getPWM(int m, double* val) override;
407 bool getPWMLimit(int m, double* val) override;
408 bool setPWMLimit(int m, const double val) override;
409 bool getPowerSupplyVoltage(int m, double* val) override;
410
411 // IControlLimits
412 bool setLimits(int axis, double min, double max) override;
413 bool getLimits(int axis, double *min, double *max) override;
414 bool setVelLimits(int axis, double min, double max) override;
415 bool getVelLimits(int axis, double *min, double *max) override;
416
417 // IAxisInfo
418 bool getAxisName(int j, std::string& name) override;
419 bool getJointType(int j, yarp::dev::JointTypeEnum& type) override;
420
421 // IControlCalibration
422 bool calibrateRobot() override;
423 bool abortCalibration() override;
424 bool abortPark() override;
425 bool park(bool wait=true) override;
426 bool calibrateAxisWithParams(int j, unsigned int ui, double v1, double v2, double v3) override;
427 bool setCalibrationParameters(int j, const CalibrationParameters& params) override;
428 bool calibrationDone(int j) override;
429
430 // ITorqueControl
431 bool getRefTorque(int j, double *t) override;
432 bool getRefTorques(double *t) override;
433 bool setRefTorques(const double *t) override;
434 bool setRefTorque(int j, double v) override;
435 bool setRefTorques(const int n_joint, const int *joints, const double *t) override;
436 bool setMotorTorqueParams(int j, const MotorTorqueParameters params) override;
437 bool getMotorTorqueParams(int j, MotorTorqueParameters *params) override;
438 bool getTorque(int j, double *t) override;
439 bool getTorques(double *t) override;
440 bool getTorqueRange(int j, double *min, double* max) override;
441 bool getTorqueRanges(double *min, double *max) override;
442
443 // IImpedanceControl
444 bool getImpedance(int j, double *stiffness, double *damping) override;
445 bool getImpedanceOffset(int j, double *offset) override;
446 bool setImpedance(int j, double stiffness, double damping) override;
447 bool setImpedanceOffset(int j, double offset) override;
448 bool getCurrentImpedanceLimit(int j, double *min_stiff, double *max_stiff, double *min_damp, double *max_damp) override;
449
450 // IControlMode
451 bool getControlMode(int j, int *mode) override;
452 bool getControlModes(int *modes) override;
453 bool getControlModes(const int n_joint, const int *joints, int *modes) override;
454 bool setControlMode(const int j, const int mode) override;
455 bool setControlModes(const int n_joint, const int *joints, int *modes) override;
456 bool setControlModes(int *modes) override;
457
458 // IPositionDirect
459 bool setPosition(int j, double ref) override;
460 bool setPositions(const int n_joint, const int *joints, const double *refs) override;
461 bool setPositions(const double *refs) override;
462 bool getRefPosition(const int joint, double* ref) override;
463 bool getRefPositions(double* refs) override;
464 bool getRefPositions(const int n_joint, const int* joints, double* refs) override;
465
466 // IVelocityControl
467 bool velocityMove(const int n_joint, const int *joints, const double *spds) override;
468 bool getRefVelocity(const int joint, double* vel) override;
469 bool getRefVelocities(double* vels) override;
470 bool getRefVelocities(const int n_joint, const int* joints, double* vels) override;
471
472 // IInteractionMode
473 bool getInteractionMode(int axis, yarp::dev::InteractionModeEnum* mode) override;
474 bool getInteractionModes(int n_joints, int *joints, yarp::dev::InteractionModeEnum* modes) override;
475 bool getInteractionModes(yarp::dev::InteractionModeEnum* modes) override;
476 bool setInteractionMode(int axis, yarp::dev::InteractionModeEnum mode) override;
477 bool setInteractionModes(int n_joints, int *joints, yarp::dev::InteractionModeEnum* modes) override;
478 bool setInteractionModes(yarp::dev::InteractionModeEnum* modes) override;
479
480 // IRemoteCalibrator
481 bool isCalibratorDevicePresent(bool *isCalib) override;
482 bool calibrateSingleJoint(int j) override;
483 bool calibrateWholePart() override;
484 bool homingSingleJoint(int j) override;
485 bool homingWholePart() override;
486 bool parkSingleJoint(int j, bool _wait=true) override;
487 bool parkWholePart() override;
488 bool quitCalibrate() override;
489 bool quitPark() override;
490
491 // ICurrentControl
492 bool getRefCurrents(double *t) override;
493 bool getRefCurrent(int j, double *t) override;
494 bool setRefCurrents(const double *refs) override;
495 bool setRefCurrent(int j, double ref) override;
496 bool setRefCurrents(const int n_joint, const int *joints, const double *refs) override;
497 bool getCurrents(double *vals) override;
498 bool getCurrent(int j, double *val) override;
499 bool getCurrentRange(int j, double *min, double *max) override;
500 bool getCurrentRanges(double *min, double *max) override;
501
502 // IPWMControl
503 bool setRefDutyCycle(int j, double v) override;
504 bool setRefDutyCycles(const double *v) override;
505 bool getRefDutyCycle(int j, double *ref) override;
506 bool getRefDutyCycles(double *refs) override;
507 bool getDutyCycle(int j, double *out) override;
508 bool getDutyCycles(double *outs) override;
509};
510
511
512
513#endif // YARP_DEV_REMOTECONTROLBOARD_REMOTECONTROLBOARD_H
t
float t
Definition FfmpegWriter.cpp:71
IAmplifierControl.h
define control board standard interfaces
IAxisInfo.h
define control board standard interfaces
IControlLimits.h
define control board standard interfaces
Vector.h
contains the definition of a Vector type
RemoteControlBoard
remote_controlboard: The client side of the control board, connects to a remote controlboard using th...
Definition RemoteControlBoard.h:89
RemoteControlBoard::setPidReferences
bool setPidReferences(const PidControlTypeEnum &pidtype, const double *refs) override
Set the controller reference, multiple axes.
Definition RemoteControlBoard.cpp:1209
RemoteControlBoard::getTorques
bool getTorques(double *t) override
Get the value of the torque for all joints (this is the feedback if you have torque sensors).
Definition RemoteControlBoard.cpp:2265
RemoteControlBoard::relativeMove
bool relativeMove(int j, double delta) override
Set relative position.
Definition RemoteControlBoard.cpp:1767
RemoteControlBoard::getCurrentImpedanceLimit
bool getCurrentImpedanceLimit(int j, double *min_stiff, double *max_stiff, double *min_damp, double *max_damp) override
Get the current impedandance limits for a specific joint.
Definition RemoteControlBoard.cpp:2360
RemoteControlBoard::getRefSpeeds
bool getRefSpeeds(const int n_joint, const int *joints, double *spds) override
Get reference speed of all joints.
Definition RemoteControlBoard.cpp:1832
RemoteControlBoard::get1V1I1B
bool get1V1I1B(int v, int j, bool &val)
Helper method used to get a double value from the remote peer.
Definition RemoteControlBoard.cpp:842
RemoteControlBoard::quitCalibrate
bool quitCalibrate() override
quitCalibrate: interrupt the calibration procedure
Definition RemoteControlBoard.cpp:2759
RemoteControlBoard::getRefPositions
bool getRefPositions(double *refs) override
Get the last position reference for all axes.
Definition RemoteControlBoard.cpp:2541
RemoteControlBoard::state_buffer
yarp::os::PortReaderBuffer< yarp::sig::Vector > state_buffer
Definition RemoteControlBoard.h:95
RemoteControlBoard::get1V1I1IA1B
bool get1V1I1IA1B(int v, const int len, const int *val1, bool &retVal)
Definition RemoteControlBoard.cpp:857
RemoteControlBoard::open
bool open(Searchable &config) override
Open the DeviceDriver.
Definition RemoteControlBoard.cpp:179
RemoteControlBoard::getEncoder
bool getEncoder(int j, double *v) override
Read the value of an encoder.
Definition RemoteControlBoard.cpp:1426
RemoteControlBoard::send2V1I
bool send2V1I(int v1, int v2, int axis)
Definition RemoteControlBoard.cpp:435
RemoteControlBoard::setPositions
bool setPositions(const int n_joint, const int *joints, const double *refs) override
Set new reference point for all axes.
Definition RemoteControlBoard.cpp:2503
RemoteControlBoard::last_wholePart
yarp::dev::impl::jointData last_wholePart
Definition RemoteControlBoard.h:107
RemoteControlBoard::setControlMode
bool setControlMode(const int j, const int mode) override
Set the current control mode.
Definition RemoteControlBoard.cpp:2424
RemoteControlBoard::isPidEnabled
bool isPidEnabled(const PidControlTypeEnum &pidtype, int j, bool *enabled) override
Get the current status (enabled/disabled) of the pid.
Definition RemoteControlBoard.cpp:1370
RemoteControlBoard::~RemoteControlBoard
~RemoteControlBoard() override=default
RemoteControlBoard::getPeakCurrent
bool getPeakCurrent(int m, double *val) override
Definition RemoteControlBoard.cpp:1988
RemoteControlBoard::getLimits
bool getLimits(int axis, double *min, double *max) override
Get the software limits for a particular axis.
Definition RemoteControlBoard.cpp:2031
RemoteControlBoard::RemoteControlBoard
RemoteControlBoard(const RemoteControlBoard &)=delete
RemoteControlBoard::getPWM
bool getPWM(int m, double *val) override
Definition RemoteControlBoard.cpp:1998
RemoteControlBoard::command_buffer
yarp::os::PortWriterBuffer< CommandMessage > command_buffer
Definition RemoteControlBoard.h:96
RemoteControlBoard::get1VDA
bool get1VDA(int v, double *val)
Helper method to get an array of double from the remote peer.
Definition RemoteControlBoard.cpp:965
RemoteControlBoard::set2V1DA
bool set2V1DA(int v1, int v2, const double *val)
Definition RemoteControlBoard.cpp:588
RemoteControlBoard::get1V1I
bool get1V1I(int code, int &v) const
Send a GET command expecting an integer value in return.
Definition RemoteControlBoard.cpp:528
RemoteControlBoard::getNominalCurrent
bool getNominalCurrent(int m, double *val) override
Definition RemoteControlBoard.cpp:1978
RemoteControlBoard::resetPid
bool resetPid(const PidControlTypeEnum &pidtype, int j) override
Reset the controller of a given joint, usually sets the current status of the joint as the reference ...
Definition RemoteControlBoard.cpp:1325
RemoteControlBoard::setPeakCurrent
bool setPeakCurrent(int m, const double val) override
Definition RemoteControlBoard.cpp:1993
RemoteControlBoard::getPidOutputs
bool getPidOutputs(const PidControlTypeEnum &pidtype, double *outs) override
Get the output of the controllers (e.g.
Definition RemoteControlBoard.cpp:1392
RemoteControlBoard::send2V
bool send2V(int v1, int v2)
Definition RemoteControlBoard.cpp:423
RemoteControlBoard::set1V1I
bool set1V1I(int code, int v)
Send a SET command with an additional integer valued variable and then wait for a reply.
Definition RemoteControlBoard.cpp:496
RemoteControlBoard::setInteractionMode
bool setInteractionMode(int axis, yarp::dev::InteractionModeEnum mode) override
Set the interaction mode of the robot, values can be stiff or compliant.
Definition RemoteControlBoard.cpp:2631
RemoteControlBoard::getTemperatureLimit
bool getTemperatureLimit(int m, double *val) override
Retreives the current temperature limit for a specific motor.
Definition RemoteControlBoard.cpp:1578
RemoteControlBoard::getPidError
bool getPidError(const PidControlTypeEnum &pidtype, int j, double *err) override
Get the current error for a joint.
Definition RemoteControlBoard.cpp:1224
RemoteControlBoard::getPidReference
bool getPidReference(const PidControlTypeEnum &pidtype, int j, double *ref) override
Get the current reference of the pid controller for a specific joint.
Definition RemoteControlBoard.cpp:1305
RemoteControlBoard::homingSingleJoint
bool homingSingleJoint(int j) override
homingSingleJoint: call the homing procedure for a single joint
Definition RemoteControlBoard.cpp:2728
RemoteControlBoard::checkMotionDone
bool checkMotionDone(int j, bool *flag) override
Check if the current trajectory is terminated.
Definition RemoteControlBoard.cpp:1782
RemoteControlBoard::getMotorEncoderCountsPerRevolution
bool getMotorEncoderCountsPerRevolution(int m, double *cpr) override
Gets number of counts per revolution for motor encoder m.
Definition RemoteControlBoard.cpp:1622
RemoteControlBoard::setMotorEncoderCountsPerRevolution
bool setMotorEncoderCountsPerRevolution(int m, const double cpr) override
Sets number of counts per revolution for motor encoder m.
Definition RemoteControlBoard.cpp:1617
RemoteControlBoard::protocolVersion
ProtocolVersion protocolVersion
Definition RemoteControlBoard.h:115
RemoteControlBoard::set2V1I
bool set2V1I(int v1, int v2, int axis)
Definition RemoteControlBoard.cpp:741
RemoteControlBoard::setRefDutyCycle
bool setRefDutyCycle(int j, double v) override
Sets the reference dutycycle to a single motor.
Definition RemoteControlBoard.cpp:2875
RemoteControlBoard::getRefAccelerations
bool getRefAccelerations(const int n_joint, const int *joints, double *accs) override
Get reference acceleration for a joint.
Definition RemoteControlBoard.cpp:1847
RemoteControlBoard::setPidErrorLimit
bool setPidErrorLimit(const PidControlTypeEnum &pidtype, int j, double limit) override
Set the error limit for the controller on a specifi joint.
Definition RemoteControlBoard.cpp:1214
RemoteControlBoard::setMaxCurrent
bool setMaxCurrent(int j, double v) override
Definition RemoteControlBoard.cpp:1968
RemoteControlBoard::getPowerSupplyVoltage
bool getPowerSupplyVoltage(int m, double *val) override
Definition RemoteControlBoard.cpp:2017
RemoteControlBoard::getRefVelocity
bool getRefVelocity(const int joint, double *vel) override
Get the last reference speed set by velocityMove for single joint.
Definition RemoteControlBoard.cpp:2575
RemoteControlBoard::getPidOutput
bool getPidOutput(const PidControlTypeEnum &pidtype, int j, double *out) override
Get the output of the controller (e.g.
Definition RemoteControlBoard.cpp:1387
RemoteControlBoard::get1V1I1IA1DA
bool get1V1I1IA1DA(int v, const int len, const int *val1, double *val2)
Definition RemoteControlBoard.cpp:1103
RemoteControlBoard::get1V1DA
bool get1V1DA(int v1, double *val)
Helper method to get an array of double from the remote peer.
Definition RemoteControlBoard.cpp:992
RemoteControlBoard::setRefSpeed
bool setRefSpeed(int j, double sp) override
Set reference speed for a joint, this is the speed used during the interpolation of the trajectory.
Definition RemoteControlBoard.cpp:1797
RemoteControlBoard::setInteractionModes
bool setInteractionModes(int n_joints, int *joints, yarp::dev::InteractionModeEnum *modes) override
Set the interaction mode of the robot for a set of joints, values can be stiff or compliant.
Definition RemoteControlBoard.cpp:2648
RemoteControlBoard::getRefCurrent
bool getRefCurrent(int j, double *t) override
Get the reference value of the current for a single motor.
Definition RemoteControlBoard.cpp:2788
RemoteControlBoard::getEncoders
bool getEncoders(double *encs) override
Read the position of all axes.
Definition RemoteControlBoard.cpp:1447
RemoteControlBoard::get1V1I1S
bool get1V1I1S(int code, int j, std::string &name)
Definition RemoteControlBoard.cpp:1087
RemoteControlBoard::set1V
bool set1V(int code)
Send a SET command without parameters and wait for a reply.
Definition RemoteControlBoard.cpp:474
RemoteControlBoard::getLastInputStamp
Stamp getLastInputStamp() override
Get the time stamp for the last read data.
Definition RemoteControlBoard.cpp:1724
RemoteControlBoard::getMotorEncoder
bool getMotorEncoder(int j, double *v) override
Read the value of a motor encoder.
Definition RemoteControlBoard.cpp:1632
RemoteControlBoard::getTemperature
bool getTemperature(int m, double *val) override
Get temperature of a motor.
Definition RemoteControlBoard.cpp:1568
RemoteControlBoard::setPidReference
bool setPidReference(const PidControlTypeEnum &pidtype, int j, double ref) override
Set the controller reference for a given axis.
Definition RemoteControlBoard.cpp:1204
RemoteControlBoard::setImpedance
bool setImpedance(int j, double stiffness, double damping) override
Set current impedance gains (stiffness,damping) for a specific joint.
Definition RemoteControlBoard.cpp:2329
RemoteControlBoard::operator=
RemoteControlBoard & operator=(const RemoteControlBoard &)=delete
RemoteControlBoard::getMotorEncoderTimed
bool getMotorEncoderTimed(int j, double *v, double *t) override
Read the instantaneous position of a motor encoder.
Definition RemoteControlBoard.cpp:1642
RemoteControlBoard::getDutyCycles
bool getDutyCycles(double *outs) override
Gets the current dutycycle of the output of the amplifier (i.e.
Definition RemoteControlBoard.cpp:2952
RemoteControlBoard::setRefCurrent
bool setRefCurrent(int j, double ref) override
Set the reference value of the current for a single motor.
Definition RemoteControlBoard.cpp:2808
RemoteControlBoard::diagnosticThread
DiagnosticThread * diagnosticThread
Definition RemoteControlBoard.h:93
RemoteControlBoard::setControlModes
bool setControlModes(const int n_joint, const int *joints, int *modes) override
Set the current control mode for a subset of axes.
Definition RemoteControlBoard.cpp:2440
RemoteControlBoard::setPid
bool setPid(const PidControlTypeEnum &pidtype, int j, const Pid &pid) override
Set new pid value for a joint axis.
Definition RemoteControlBoard.cpp:1152
RemoteControlBoard::set1V1I2D
bool set1V1I2D(int code, int j, double val1, double val2)
Definition RemoteControlBoard.cpp:559
RemoteControlBoard::getPidErrors
bool getPidErrors(const PidControlTypeEnum &pidtype, double *errs) override
Get the error of all joints.
Definition RemoteControlBoard.cpp:1229
RemoteControlBoard::close
bool close() override
Close the device driver and stop the port connections.
Definition RemoteControlBoard.cpp:392
RemoteControlBoard::parkSingleJoint
bool parkSingleJoint(int j, bool _wait=true) override
parkSingleJoint(): start the parking procedure for the single joint
Definition RemoteControlBoard.cpp:2744
RemoteControlBoard::setMotorEncoders
bool setMotorEncoders(const double *vals) override
Set the value of all motor encoders.
Definition RemoteControlBoard.cpp:1627
RemoteControlBoard::last_singleJoint
yarp::dev::impl::jointData last_singleJoint
Definition RemoteControlBoard.h:105
RemoteControlBoard::getTargetPositions
bool getTargetPositions(double *refs) override
Get the last position reference for all axes.
Definition RemoteControlBoard.cpp:1757
RemoteControlBoard::RemoteControlBoard
RemoteControlBoard(RemoteControlBoard &&)=delete
RemoteControlBoard::setEncoders
bool setEncoders(const double *vals) override
Set the value of all encoders.
Definition RemoteControlBoard.cpp:1421
RemoteControlBoard::set1VDA
bool set1VDA(int v, const double *val)
Helper method used to set an array of double to all axes.
Definition RemoteControlBoard.cpp:572
RemoteControlBoard::getPid
bool getPid(const PidControlTypeEnum &pidtype, int j, Pid *pid) override
Get current pid value for a specific joint.
Definition RemoteControlBoard.cpp:1234
RemoteControlBoard::setPosition
bool setPosition(int j, double ref) override
Set new position for a single axis.
Definition RemoteControlBoard.cpp:2488
RemoteControlBoard::get2V1I2D
bool get2V1I2D(int v1, int v2, int j, double *val1, double *val2)
Definition RemoteControlBoard.cpp:806
RemoteControlBoard::getJointType
bool getJointType(int j, yarp::dev::JointTypeEnum &type) override
Definition RemoteControlBoard.cpp:2055
RemoteControlBoard::resetMotorEncoder
bool resetMotorEncoder(int j) override
Reset motor encoder, single motor.
Definition RemoteControlBoard.cpp:1602
RemoteControlBoard::getEncoderSpeed
bool getEncoderSpeed(int j, double *sp) override
Read the istantaneous speed of an axis.
Definition RemoteControlBoard.cpp:1469
RemoteControlBoard::setGearboxRatio
bool setGearboxRatio(int m, const double val) override
Set the gearbox ratio for a specific motor.
Definition RemoteControlBoard.cpp:1593
RemoteControlBoard::resetMotorEncoders
bool resetMotorEncoders() override
Reset motor encoders.
Definition RemoteControlBoard.cpp:1607
RemoteControlBoard::getCurrentRanges
bool getCurrentRanges(double *min, double *max) override
Get the full scale of the current measurements for all motors motor (e.g.
Definition RemoteControlBoard.cpp:2867
RemoteControlBoard::getAmpStatus
bool getAmpStatus(int *st) override
Definition RemoteControlBoard.cpp:1958
RemoteControlBoard::setRefTorque
bool setRefTorque(int j, double v) override
Set the reference value of the torque for a given joint.
Definition RemoteControlBoard.cpp:2160
RemoteControlBoard::enablePid
bool enablePid(const PidControlTypeEnum &pidtype, int j) override
Enable the pid computation for a joint.
Definition RemoteControlBoard.cpp:1355
RemoteControlBoard::calibrateWholePart
bool calibrateWholePart() override
calibrateWholePart: call the procedure for calibrating the whole device
Definition RemoteControlBoard.cpp:2718
RemoteControlBoard::getImpedance
bool getImpedance(int j, double *stiffness, double *damping) override
Get current impedance gains (stiffness,damping,offset) for a specific joint.
Definition RemoteControlBoard.cpp:2288
RemoteControlBoard::getPidErrorLimits
bool getPidErrorLimits(const PidControlTypeEnum &pidtype, double *limits) override
Get the error limit for all controllers.
Definition RemoteControlBoard.cpp:1320
RemoteControlBoard::getMotorEncoders
bool getMotorEncoders(double *encs) override
Read the position of all motor encoders.
Definition RemoteControlBoard.cpp:1653
RemoteControlBoard::setPids
bool setPids(const PidControlTypeEnum &pidtype, const Pid *pids) override
Set new pid value on multiple axes.
Definition RemoteControlBoard.cpp:1175
RemoteControlBoard::setMotorEncoder
bool setMotorEncoder(int j, const double val) override
Set the value of the motor encoder for a given motor.
Definition RemoteControlBoard.cpp:1612
RemoteControlBoard::velocityMove
bool velocityMove(int j, double v) override
Start motion at a given speed, single joint.
Definition RemoteControlBoard.cpp:1914
RemoteControlBoard::setRemoteVariable
bool setRemoteVariable(std::string key, const yarp::os::Bottle &val) override
Definition RemoteControlBoard.cpp:1527
RemoteControlBoard::setPidErrorLimits
bool setPidErrorLimits(const PidControlTypeEnum &pidtype, const double *limits) override
Get the error limit for the controller on all joints.
Definition RemoteControlBoard.cpp:1219
RemoteControlBoard::RemoteControlBoard
RemoteControlBoard()=default
RemoteControlBoard::calibrationDone
bool calibrationDone(int j) override
Check if the calibration is terminated, on a particular joint.
Definition RemoteControlBoard.cpp:2122
RemoteControlBoard::setPidOffset
bool setPidOffset(const PidControlTypeEnum &pidtype, int j, double v) override
Set offset value for a given controller.
Definition RemoteControlBoard.cpp:1397
RemoteControlBoard::get2V1I1D
bool get2V1I1D(int v1, int v2, int j, double *val)
Definition RemoteControlBoard.cpp:787
RemoteControlBoard::abortCalibration
bool abortCalibration() override
Definition RemoteControlBoard.cpp:2068
RemoteControlBoard::setRefCurrents
bool setRefCurrents(const double *refs) override
Set the reference value of the currents for all motors.
Definition RemoteControlBoard.cpp:2793
RemoteControlBoard::getMotorEncoderAcceleration
bool getMotorEncoderAcceleration(int j, double *acc) override
Read the instantaneous acceleration of a motor encoder.
Definition RemoteControlBoard.cpp:1693
RemoteControlBoard::setRefTorques
bool setRefTorques(const double *t) override
Set the reference value of the torque for all joints.
Definition RemoteControlBoard.cpp:2141
RemoteControlBoard::getNumberOfMotors
bool getNumberOfMotors(int *num) override
Get the number of available motors.
Definition RemoteControlBoard.cpp:1563
RemoteControlBoard::getInteractionModes
bool getInteractionModes(int n_joints, int *joints, yarp::dev::InteractionModeEnum *modes) override
Get the current interaction mode of the robot for a set of joints, values can be stiff or compliant.
Definition RemoteControlBoard.cpp:2603
RemoteControlBoard::get1VIA
bool get1VIA(int v, int *val)
Helper method to get an array of integers from the remote peer.
Definition RemoteControlBoard.cpp:938
RemoteControlBoard::set1V1I1IA1DA
bool set1V1I1IA1DA(int v, const int len, const int *val1, const double *val2)
Definition RemoteControlBoard.cpp:626
RemoteControlBoard::getInteractionMode
bool getInteractionMode(int axis, yarp::dev::InteractionModeEnum *mode) override
Get the current interaction mode of the robot, values can be stiff or compliant.
Definition RemoteControlBoard.cpp:2594
RemoteControlBoard::getCurrentRange
bool getCurrentRange(int j, double *min, double *max) override
Get the full scale of the current measurement for a given motor (e.g.
Definition RemoteControlBoard.cpp:2862
RemoteControlBoard::getEncoderAcceleration
bool getEncoderAcceleration(int j, double *acc) override
Read the instantaneous acceleration of an axis.
Definition RemoteControlBoard.cpp:1489
RemoteControlBoard::operator=
RemoteControlBoard & operator=(RemoteControlBoard &&)=delete
RemoteControlBoard::get1V1B
bool get1V1B(int v, bool &val)
Definition RemoteControlBoard.cpp:924
RemoteControlBoard::getVelLimits
bool getVelLimits(int axis, double *min, double *max) override
Get the software speed limits for a particular axis.
Definition RemoteControlBoard.cpp:2041
RemoteControlBoard::setEncoder
bool setEncoder(int j, double val) override
Set the value of the encoder for a given joint.
Definition RemoteControlBoard.cpp:1416
RemoteControlBoard::send1V1I
bool send1V1I(int v, int axis)
Definition RemoteControlBoard.cpp:448
RemoteControlBoard::get1V1I2D
bool get1V1I2D(int code, int axis, double *v1, double *v2)
Definition RemoteControlBoard.cpp:825
RemoteControlBoard::resetEncoders
bool resetEncoders() override
Reset encoders.
Definition RemoteControlBoard.cpp:1411
RemoteControlBoard::checkProtocolVersion
bool checkProtocolVersion(bool ignore)
Definition RemoteControlBoard.cpp:116
RemoteControlBoard::setImpedanceOffset
bool setImpedanceOffset(int j, double offset) override
Set current force Offset for a specific joint.
Definition RemoteControlBoard.cpp:2345
RemoteControlBoard::get2V1I1IA1DA
bool get2V1I1IA1DA(int v1, int v2, const int n_joints, const int *joints, double *retVals, std::string functionName="")
Definition RemoteControlBoard.cpp:878
RemoteControlBoard::getGearboxRatio
bool getGearboxRatio(int m, double *val) override
Get the gearbox ratio for a specific motor.
Definition RemoteControlBoard.cpp:1588
RemoteControlBoard::getRefAcceleration
bool getRefAcceleration(int j, double *acc) override
Get reference acceleration for a joint.
Definition RemoteControlBoard.cpp:1842
RemoteControlBoard::getMaxCurrent
bool getMaxCurrent(int j, double *v) override
Returns the maximum electric current allowed for a given motor.
Definition RemoteControlBoard.cpp:1973
RemoteControlBoard::set2V2DA
bool set2V2DA(int v1, int v2, const double *val1, const double *val2)
Definition RemoteControlBoard.cpp:605
RemoteControlBoard::get2V1DA
bool get2V1DA(int v1, int v2, double *val)
Helper method to get an array of double from the remote peer.
Definition RemoteControlBoard.cpp:1019
RemoteControlBoard::setRefAccelerations
bool setRefAccelerations(const int n_joint, const int *joints, const double *accs) override
Set reference acceleration on all joints.
Definition RemoteControlBoard.cpp:1817
RemoteControlBoard::setNominalCurrent
bool setNominalCurrent(int m, const double val) override
Definition RemoteControlBoard.cpp:1983
RemoteControlBoard::getMotorTorqueParams
bool getMotorTorqueParams(int j, MotorTorqueParameters *params) override
Get a subset of motor parameters (bemf, ktau etc) useful for torque control.
Definition RemoteControlBoard.cpp:2223
RemoteControlBoard::getRefTorques
bool getRefTorques(double *t) override
Get the reference value of the torque for all joints.
Definition RemoteControlBoard.cpp:2136
RemoteControlBoard::getTorque
bool getTorque(int j, double *t) override
Get the value of the torque on a given joint (this is the feedback if you have a torque sensor).
Definition RemoteControlBoard.cpp:2256
RemoteControlBoard::getRemoteVariable
bool getRemoteVariable(std::string key, yarp::os::Bottle &val) override
Definition RemoteControlBoard.cpp:1511
RemoteControlBoard::getRefDutyCycles
bool getRefDutyCycles(double *refs) override
Gets the last reference sent using the setRefDutyCycles function.
Definition RemoteControlBoard.cpp:2938
RemoteControlBoard::set1V2D
bool set1V2D(int code, double v)
Send a SET command and an additional double valued variable and then wait for a reply.
Definition RemoteControlBoard.cpp:484
RemoteControlBoard::getRemoteVariablesList
bool getRemoteVariablesList(yarp::os::Bottle *listOfKeys) override
Definition RemoteControlBoard.cpp:1542
RemoteControlBoard::getMotorEncoderSpeed
bool getMotorEncoderSpeed(int j, double *sp) override
Read the istantaneous speed of a motor encoder.
Definition RemoteControlBoard.cpp:1675
RemoteControlBoard::getTemperatures
bool getTemperatures(double *vals) override
Get temperature of all the motors.
Definition RemoteControlBoard.cpp:1573
RemoteControlBoard::get2V2DA
bool get2V2DA(int v1, int v2, double *val1, double *val2)
Definition RemoteControlBoard.cpp:1047
RemoteControlBoard::getLastJointFault
bool getLastJointFault(int j, int &fault, std::string &message) override
Definition RemoteControlBoard.cpp:1889
RemoteControlBoard::get1V1D
bool get1V1D(int code, double &v) const
Send a GET command expecting a double value in return.
Definition RemoteControlBoard.cpp:508
RemoteControlBoard::command_p
yarp::os::Port command_p
Definition RemoteControlBoard.h:92
RemoteControlBoard::setRefSpeeds
bool setRefSpeeds(const int n_joint, const int *joints, const double *spds) override
Set reference speed on all joints.
Definition RemoteControlBoard.cpp:1802
RemoteControlBoard::getControlMode
bool getControlMode(int j, int *mode) override
Get the current control mode.
Definition RemoteControlBoard.cpp:2387
RemoteControlBoard::isCalibratorDevicePresent
bool isCalibratorDevicePresent(bool *isCalib) override
isCalibratorDevicePresent: check if a calibrator device has been set
Definition RemoteControlBoard.cpp:2698
RemoteControlBoard::homingWholePart
bool homingWholePart() override
homingWholePart: call the homing procedure for a the whole part/device
Definition RemoteControlBoard.cpp:2733
RemoteControlBoard::set2V1I1D
bool set2V1I1D(int v1, int v2, int axis, double val)
Definition RemoteControlBoard.cpp:648
RemoteControlBoard::parkWholePart
bool parkWholePart() override
parkWholePart: start the parking procedure for the whole part
Definition RemoteControlBoard.cpp:2749
RemoteControlBoard::calibrateRobot
bool calibrateRobot() override
Calibrate robot by using an external calibrator.
Definition RemoteControlBoard.cpp:2063
RemoteControlBoard::getControlModes
bool getControlModes(int *modes) override
Get the current control mode (multiple joints).
Definition RemoteControlBoard.cpp:2396
RemoteControlBoard::getMotorEncoderAccelerations
bool getMotorEncoderAccelerations(double *accs) override
Read the instantaneous acceleration of all motor encoders.
Definition RemoteControlBoard.cpp:1702
RemoteControlBoard::resetEncoder
bool resetEncoder(int j) override
Reset encoder, single joint.
Definition RemoteControlBoard.cpp:1406
RemoteControlBoard::getDutyCycle
bool getDutyCycle(int j, double *out) override
Gets the current dutycycle of the output of the amplifier (i.e.
Definition RemoteControlBoard.cpp:2943
RemoteControlBoard::getTargetPosition
bool getTargetPosition(const int joint, double *ref) override
Get the last position reference for the specified axis.
Definition RemoteControlBoard.cpp:1752
RemoteControlBoard::send3V1I
bool send3V1I(int v1, int v2, int v3, int j)
Definition RemoteControlBoard.cpp:460
RemoteControlBoard::getRefVelocities
bool getRefVelocities(double *vels) override
Get the last reference speed set by velocityMove for all joints.
Definition RemoteControlBoard.cpp:2580
RemoteControlBoard::getCurrent
bool getCurrent(int j, double *val) override
Definition RemoteControlBoard.cpp:2853
RemoteControlBoard::getAxes
bool getAxes(int *ax) override
Get the number of controlled axes.
Definition RemoteControlBoard.cpp:1145
RemoteControlBoard::extendedIntputStatePort
StateExtendedInputPort extendedIntputStatePort
Definition RemoteControlBoard.h:103
RemoteControlBoard::getPidErrorLimit
bool getPidErrorLimit(const PidControlTypeEnum &pidtype, int j, double *limit) override
Get the error limit for the controller on a specific joint.
Definition RemoteControlBoard.cpp:1315
RemoteControlBoard::stop
bool stop() override
Stop motion, multiple joints.
Definition RemoteControlBoard.cpp:1881
RemoteControlBoard::setPWMLimit
bool setPWMLimit(int m, const double val) override
Definition RemoteControlBoard.cpp:2012
RemoteControlBoard::getRefSpeed
bool getRefSpeed(int j, double *ref) override
Get reference speed for a joint.
Definition RemoteControlBoard.cpp:1827
RemoteControlBoard::getRefPosition
bool getRefPosition(const int joint, double *ref) override
Get the last position reference for the specified axis.
Definition RemoteControlBoard.cpp:2536
RemoteControlBoard::set1V1I1D
bool set1V1I1D(int code, int j, double val)
Helper method to set a double value to a single axis.
Definition RemoteControlBoard.cpp:548
RemoteControlBoard::getEncoderTimed
bool getEncoderTimed(int j, double *v, double *t) override
Read the instantaneous acceleration of all axes.
Definition RemoteControlBoard.cpp:1436
RemoteControlBoard::setCalibrationParameters
bool setCalibrationParameters(int j, const CalibrationParameters &params) override
Start calibration, this method is very often platform specific.
Definition RemoteControlBoard.cpp:2102
RemoteControlBoard::getRefTorque
bool getRefTorque(int j, double *t) override
Get the reference value of the torque for a given joint.
Definition RemoteControlBoard.cpp:2131
RemoteControlBoard::setTemperatureLimit
bool setTemperatureLimit(int m, const double val) override
Set the temperature limit for a specific motor.
Definition RemoteControlBoard.cpp:1583
RemoteControlBoard::setValWithPidType
bool setValWithPidType(int voc, PidControlTypeEnum type, int axis, double val)
Definition RemoteControlBoard.cpp:660
RemoteControlBoard::calibrateSingleJoint
bool calibrateSingleJoint(int j) override
calibrateSingleJoint: call the calibration procedure for the single joint
Definition RemoteControlBoard.cpp:2713
RemoteControlBoard::enableAmp
bool enableAmp(int j) override
Enable the amplifier on a specific joint.
Definition RemoteControlBoard.cpp:1948
RemoteControlBoard::getEncoderSpeeds
bool getEncoderSpeeds(double *spds) override
Read the instantaneous speed of all axes.
Definition RemoteControlBoard.cpp:1479
RemoteControlBoard::getTorqueRanges
bool getTorqueRanges(double *min, double *max) override
Get the full scale of the torque sensors of all joints.
Definition RemoteControlBoard.cpp:2279
RemoteControlBoard::park
bool park(bool wait=true) override
Definition RemoteControlBoard.cpp:2078
RemoteControlBoard::setRefAcceleration
bool setRefAcceleration(int j, double acc) override
Set reference acceleration for a joint.
Definition RemoteControlBoard.cpp:1812
RemoteControlBoard::getRefDutyCycle
bool getRefDutyCycle(int j, double *ref) override
Gets the last reference sent using the setRefDutyCycle function.
Definition RemoteControlBoard.cpp:2915
RemoteControlBoard::getMotorEncodersTimed
bool getMotorEncodersTimed(double *encs, double *ts) override
Read the instantaneous position of all motor encoders.
Definition RemoteControlBoard.cpp:1664
RemoteControlBoard::getImpedanceOffset
bool getImpedanceOffset(int j, double *offset) override
Get current force Offset for a specific joint.
Definition RemoteControlBoard.cpp:2309
RemoteControlBoard::getValWithPidType
bool getValWithPidType(int voc, PidControlTypeEnum type, int j, double *val)
Definition RemoteControlBoard.cpp:694
RemoteControlBoard::calibrateAxisWithParams
bool calibrateAxisWithParams(int j, unsigned int ui, double v1, double v2, double v3) override
Start calibration, this method is very often platform specific.
Definition RemoteControlBoard.cpp:2083
RemoteControlBoard::getNumberOfMotorEncoders
bool getNumberOfMotorEncoders(int *num) override
Get the number of available motor encoders.
Definition RemoteControlBoard.cpp:1711
RemoteControlBoard::disablePid
bool disablePid(const PidControlTypeEnum &pidtype, int j) override
Disable the pid computation for a joint.
Definition RemoteControlBoard.cpp:1340
RemoteControlBoard::getMotorEncoderSpeeds
bool getMotorEncoderSpeeds(double *spds) override
Read the instantaneous speed of all motor encoders.
Definition RemoteControlBoard.cpp:1684
RemoteControlBoard::getPWMLimit
bool getPWMLimit(int m, double *val) override
Definition RemoteControlBoard.cpp:2007
RemoteControlBoard::getCurrents
bool getCurrents(double *vals) override
Definition RemoteControlBoard.cpp:2844
RemoteControlBoard::disableAmp
bool disableAmp(int j) override
Disable the amplifier on a specific joint.
Definition RemoteControlBoard.cpp:1953
RemoteControlBoard::setVelLimits
bool setVelLimits(int axis, double min, double max) override
Set the software speed limits for a particular axis, the behavior of the control card when these limi...
Definition RemoteControlBoard.cpp:2036
RemoteControlBoard::getEncodersTimed
bool getEncodersTimed(double *encs, double *ts) override
Read the instantaneous acceleration of all axes.
Definition RemoteControlBoard.cpp:1458
RemoteControlBoard::getPids
bool getPids(const PidControlTypeEnum &pidtype, Pid *pids) override
Get current pid value for a specific joint.
Definition RemoteControlBoard.cpp:1264
RemoteControlBoard::get1V1I1D
bool get1V1I1D(int v, int j, double *val)
Helper method used to get a double value from the remote peer.
Definition RemoteControlBoard.cpp:752
RemoteControlBoard::getEncoderAccelerations
bool getEncoderAccelerations(double *accs) override
Read the instantaneous acceleration of all axes.
Definition RemoteControlBoard.cpp:1498
RemoteControlBoard::setMotorTorqueParams
bool setMotorTorqueParams(int j, const MotorTorqueParameters params) override
Set a subset of motor parameters (bemf, ktau etc) useful for torque control.
Definition RemoteControlBoard.cpp:2202
RemoteControlBoard::setLimits
bool setLimits(int axis, double min, double max) override
Set the software limits for a particular axis, the behavior of the control card when these limits are...
Definition RemoteControlBoard.cpp:2026
RemoteControlBoard::getTorqueRange
bool getTorqueRange(int j, double *min, double *max) override
Get the full scale of the torque sensor of a given joint.
Definition RemoteControlBoard.cpp:2274
RemoteControlBoard::setRefDutyCycles
bool setRefDutyCycles(const double *v) override
Sets the reference dutycycle for all the motors.
Definition RemoteControlBoard.cpp:2895
RemoteControlBoard::positionMove
bool positionMove(int j, double ref) override
Set new reference point for a single axis.
Definition RemoteControlBoard.cpp:1737
RemoteControlBoard::quitPark
bool quitPark() override
quitPark: interrupt the park procedure
Definition RemoteControlBoard.cpp:2769
RemoteControlBoard::get1V1I1I
bool get1V1I1I(int v, int j, int *val)
Helper method used to get an integer value from the remote peer.
Definition RemoteControlBoard.cpp:770
RemoteControlBoard::getAxisName
bool getAxisName(int j, std::string &name) override
Definition RemoteControlBoard.cpp:2050
RemoteControlBoard::getPidReferences
bool getPidReferences(const PidControlTypeEnum &pidtype, double *refs) override
Get the current reference of all pid controllers.
Definition RemoteControlBoard.cpp:1310
RemoteControlBoard::getRefCurrents
bool getRefCurrents(double *t) override
Get the reference value of the currents for all motors.
Definition RemoteControlBoard.cpp:2783
yarp::dev::DeviceDriver
Interface implemented by all device drivers.
Definition DeviceDriver.h:30
yarp::dev::IAmplifierControl
Interface for control devices, amplifier commands.
Definition IAmplifierControl.h:26
yarp::dev::IAxisInfo
Interface for getting information about specific axes, if available.
Definition IAxisInfo.h:36
yarp::dev::IControlCalibration
Interface for control devices, calibration commands.
Definition IControlCalibration.h:81
yarp::dev::IControlLimits
Interface for control devices, commands to get/set position and veloity limits.
Definition IControlLimits.h:26
yarp::dev::IControlMode
Interface for setting control mode in control board.
Definition IControlMode.h:23
yarp::dev::ICurrentControl
Interface for control boards implementing current control.
Definition ICurrentControl.h:23
yarp::dev::IEncodersTimed
Control board, extend encoder interface with timestamps.
Definition IEncodersTimed.h:54
yarp::dev::IImpedanceControl
Interface for control boards implementing impedance control.
Definition IImpedanceControl.h:70
yarp::dev::IInteractionMode
Interface settings the way the robot interacts with the environment: basic interaction types are Stif...
Definition IInteractionMode.h:38
yarp::dev::IJointFault
Interface for getting info about the fault which may occur on a robot.
Definition IJointFault.h:23
yarp::dev::IMotorEncoders
Control board, encoder interface.
Definition IMotorEncoders.h:150
yarp::dev::IMotor
Control board, encoder interface.
Definition IMotor.h:94
yarp::dev::IPWMControl
Interface for controlling an axis, by sending directly a PWM reference signal to a motor.
Definition IPWMControl.h:23
yarp::dev::IPidControl
Interface for a generic control board device implementing a PID controller, with scaled arguments.
Definition IPidControl.h:206
yarp::dev::IPositionControl
Interface for a generic control board device implementing position control.
Definition IPositionControl.h:252
yarp::dev::IPositionDirect
Interface for a generic control board device implementing position control.
Definition IPositionDirect.h:27
yarp::dev::IRemoteCalibrator
IRemoteCalibrator interface is meant to remotize the access of the calibration device in order to all...
Definition IRemoteCalibrator.h:28
yarp::dev::IRemoteVariables
IRemoteVariables interface.
Definition IRemoteVariables.h:46
yarp::dev::ITorqueControl
Interface for control boards implementing torque control.
Definition ITorqueControl.h:39
yarp::dev::IVelocityControl
Interface for control boards implementing velocity control.
Definition IVelocityControl.h:155
yarp::dev::Pid
Contains the parameters for a PID.
Definition ControlBoardPid.h:24
yarp::os::Bottle
A simple collection of objects that can be described and transmitted in a portable way.
Definition Bottle.h:64
yarp::os::BufferedPort
A mini-server for performing network communication in the background.
Definition BufferedPort.h:60
yarp::os::Port
A mini-server for network communication.
Definition Port.h:46
yarp::os::Searchable
A base class for nested structures that can be searched.
Definition Searchable.h:56
yarp::os::Stamp
An abstraction for a time stamp and/or sequence number.
Definition Stamp.h:21
yarp::dev::PidControlTypeEnum
PidControlTypeEnum
Definition PidEnums.h:15