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/IJointBrake.h>
35#include <yarp/dev/ControlBoardHelpers.h>
36
37#include "stateExtendedReader.h"
38#include "RemoteControlBoard_ParamsParser.h"
39#include "ControlBoardMsgs.h"
40
41class DiagnosticThread;
42
43
55class RemoteControlBoard :
56 public yarp::dev::IPidControl,
57 public yarp::dev::IPositionControl,
58 public yarp::dev::IVelocityControl,
59 public yarp::dev::IEncodersTimed,
60 public yarp::dev::IMotorEncoders,
61 public yarp::dev::IMotor,
62 public yarp::dev::IAmplifierControl,
63 public yarp::dev::IControlLimits,
64 public yarp::dev::IAxisInfo,
65 public yarp::dev::IPreciselyTimed,
66 public yarp::dev::IControlCalibration,
67 public yarp::dev::ITorqueControl,
68 public yarp::dev::IImpedanceControl,
69 public yarp::dev::IControlMode,
70 public yarp::dev::DeviceDriver,
71 public yarp::dev::IPositionDirect,
72 public yarp::dev::IVelocityDirect,
73 public yarp::dev::IInteractionMode,
74 public yarp::dev::IRemoteCalibrator,
75 public yarp::dev::IRemoteVariables,
76 public yarp::dev::IPWMControl,
77 public yarp::dev::ICurrentControl,
78 public yarp::dev::IJointFault,
79 public yarp::dev::IJointBrake,
80 public RemoteControlBoard_ParamsParser
81{
82protected:
83 yarp::os::Port rpc_p;
84 yarp::os::Port command_p;
85 DiagnosticThread *diagnosticThread{nullptr};
86 yarp::os::Port m_rpcPort;
87
88 yarp::os::PortReaderBuffer<yarp::sig::Vector> state_buffer;
89 yarp::os::PortWriterBuffer<CommandMessage> command_buffer;
90 bool writeStrict_singleJoint{true};
91 bool writeStrict_moreJoints{false};
92
93 // Buffer associated to the extendedOutputStatePort port; in this case we will use the type generated
94 // from the YARP .thrift file
95// yarp::os::PortReaderBuffer<jointData> extendedInputState_buffer; // Buffer storing new data
96 StateExtendedInputPort extendedIntputStatePort; // Buffered port storing new data
97 std::mutex extendedPortMutex;
98 yarp::dev::impl::jointData last_singleJoint; // tmp to store last received data for a particular joint
99// yarp::os::Port extendedIntputStatePort; // Port /stateExt:i reading the state of the joints
100 yarp::dev::impl::jointData last_wholePart; // tmp to store last received data for whole part
101
102 mutable Stamp lastStamp; //this is shared among all calls that read encoders
103 size_t nj{0};
104 bool njIsKnown{false};
105
106 ControlBoardMsgs m_RPC;
107
108 // Check for number of joints, if needed.
109 // This is to allow for delayed connection to the remote control board.
110 bool isLive();
111
112 bool send1V(int v);
113 bool send2V(int v1, int v2);
114 bool send2V1I(int v1, int v2, int axis);
115 bool send1V1I(int v, int axis);
116 bool send3V1I(int v1, int v2, int v3, int j);
117
123 bool set1V(int code);
124
132 bool set1V2D(int code, double v);
133
141 bool set1V1I(int code, int v);
142
149 bool get1V1D(int code, double& v) const;
150
157 bool get1V1I(int code, int& v) const;
158
166 bool set1V1I1D(int code, int j, double val);
167
168 bool set1V1I2D(int code, int j, double val1, double val2);
169
176 bool set1VDA(int v, const double *val);
177 bool set2V1DA(int v1, int v2, const double *val);
178 bool set2V2DA(int v1, int v2, const double *val1, const double *val2);
179 bool set1V1I1IA1DA(int v, const int len, const int *val1, const double *val2);
180 bool set2V1I1D(int v1, int v2, int axis, double val);
181 bool setValWithPidType(int voc, PidControlTypeEnum type, int axis, double val);
182 bool setValWithPidType(int voc, PidControlTypeEnum type, const double* val_arr);
183 bool getValWithPidType(int voc, PidControlTypeEnum type, int j, double *val);
184 bool getValWithPidType(int voc, PidControlTypeEnum type, double *val);
185 bool set2V1I(int v1, int v2, int axis);
186
194 bool get1V1I1D(int v, int j, double *val);
195
203 bool get1V1I1I(int v, int j, int *val);
204 bool get2V1I1D(int v1, int v2, int j, double *val);
205 bool get2V1I2D(int v1, int v2, int j, double *val1, double *val2);
206 bool get1V1I2D(int code, int axis, double *v1, double *v2);
207
215 bool get1V1I1B(int v, int j, bool &val);
216 bool get1V1I1IA1B(int v, const int len, const int *val1, bool &retVal);
217 bool get2V1I1IA1DA(int v1, int v2, const int n_joints, const int *joints, double *retVals, std::string functionName = "");
218 bool get1V1B(int v, bool &val);
219
226 bool get1VIA(int v, int *val);
227
234 bool get1VDA(int v, double *val);
235
242 bool get1V1DA(int v1, double *val);
243
251 bool get2V1DA(int v1, int v2, double *val);
252
253 bool get2V2DA(int v1, int v2, double *val1, double *val2);
254
255 bool get1V1I1S(int code, int j, std::string &name);
256
257 bool get1V1I1IA1DA(int v, const int len, const int *val1, double *val2);
258
259public:
260 RemoteControlBoard() = default;
261 RemoteControlBoard(const RemoteControlBoard&) = delete;
262 RemoteControlBoard(RemoteControlBoard&&) = delete;
263 RemoteControlBoard& operator=(const RemoteControlBoard&) = delete;
264 RemoteControlBoard& operator=(RemoteControlBoard&&) = delete;
265 ~RemoteControlBoard() override = default;
266
267 bool open(Searchable& config) override;
268
273 bool close() override;
274
275 bool getAxes(int *ax) override;
276
277 // IPidControl
278 bool setPid(const PidControlTypeEnum& pidtype, int j, const Pid &pid) override;
279 bool setPids(const PidControlTypeEnum& pidtype, const Pid *pids) override;
280 bool setPidReference(const PidControlTypeEnum& pidtype, int j, double ref) override;
281 bool setPidReferences(const PidControlTypeEnum& pidtype, const double *refs) override;
282 bool setPidErrorLimit(const PidControlTypeEnum& pidtype, int j, double limit) override;
283 bool setPidErrorLimits(const PidControlTypeEnum& pidtype, const double *limits) override;
284 bool getPidError(const PidControlTypeEnum& pidtype, int j, double *err) override;
285 bool getPidErrors(const PidControlTypeEnum& pidtype, double *errs) override;
286 bool getPid(const PidControlTypeEnum& pidtype, int j, Pid *pid) override;
287 bool getPids(const PidControlTypeEnum& pidtype, Pid *pids) override;
288 bool getPidReference(const PidControlTypeEnum& pidtype, int j, double *ref) override;
289 bool getPidReferences(const PidControlTypeEnum& pidtype, double *refs) override;
290 bool getPidErrorLimit(const PidControlTypeEnum& pidtype, int j, double *limit) override;
291 bool getPidErrorLimits(const PidControlTypeEnum& pidtype, double *limits) override;
292 bool resetPid(const PidControlTypeEnum& pidtype, int j) override;
293 bool disablePid(const PidControlTypeEnum& pidtype, int j) override;
294 bool enablePid(const PidControlTypeEnum& pidtype, int j) override;
295 bool isPidEnabled(const PidControlTypeEnum& pidtype, int j, bool* enabled) override;
296 bool getPidOutput(const PidControlTypeEnum& pidtype, int j, double *out) override;
297 bool getPidOutputs(const PidControlTypeEnum& pidtype, double *outs) override;
298 bool setPidOffset(const PidControlTypeEnum& pidtype, int j, double v) override;
299
300 // IEncoder
301 bool resetEncoder(int j) override;
302 bool resetEncoders() override;
303 bool setEncoder(int j, double val) override;
304 bool setEncoders(const double *vals) override;
305 bool getEncoder(int j, double *v) override;
306 bool getEncoderTimed(int j, double *v, double *t) override;
307 bool getEncoders(double *encs) override;
308 bool getEncodersTimed(double *encs, double *ts) override;
309 bool getEncoderSpeed(int j, double *sp) override;
310 bool getEncoderSpeeds(double *spds) override;
311 bool getEncoderAcceleration(int j, double *acc) override;
312 bool getEncoderAccelerations(double *accs) override;
313
314 // IRemoteVariable
315 bool getRemoteVariable(std::string key, yarp::os::Bottle& val) override;
316 bool setRemoteVariable(std::string key, const yarp::os::Bottle& val) override;
317 bool getRemoteVariablesList(yarp::os::Bottle* listOfKeys) override;
318
319 // IMotor
320 bool getNumberOfMotors(int *num) override;
321 bool getTemperature(int m, double* val) override;
322 bool getTemperatures(double *vals) override;
323 bool getTemperatureLimit (int m, double* val) override;
324 bool setTemperatureLimit (int m, const double val) override;
325 bool getGearboxRatio(int m, double* val) override;
326 bool setGearboxRatio(int m, const double val) override;
327
328 // IMotorEncoder
329 bool resetMotorEncoder(int j) override;
330 bool resetMotorEncoders() override;
331 bool setMotorEncoder(int j, const double val) override;
332 bool setMotorEncoderCountsPerRevolution(int m, const double cpr) override;
333 bool getMotorEncoderCountsPerRevolution(int m, double *cpr) override;
334 bool setMotorEncoders(const double *vals) override;
335 bool getMotorEncoder(int j, double *v) override;
336 bool getMotorEncoderTimed(int j, double *v, double *t) override;
337 bool getMotorEncoders(double *encs) override;
338 bool getMotorEncodersTimed(double *encs, double *ts) override;
339 bool getMotorEncoderSpeed(int j, double *sp) override;
340 bool getMotorEncoderSpeeds(double *spds) override;
341 bool getMotorEncoderAcceleration(int j, double *acc) override;
342 bool getMotorEncoderAccelerations(double *accs) override;
343 bool getNumberOfMotorEncoders(int *num) override;
344
345 // IPreciselyTimed
346 Stamp getLastInputStamp() override;
347
348 // IPositionControl
349 bool positionMove(int j, double ref) override;
350 bool positionMove(const int n_joint, const int *joints, const double *refs) override;
351 bool positionMove(const double *refs) override;
352 bool getTargetPosition(const int joint, double *ref) override;
353 bool getTargetPositions(double *refs) override;
354 bool getTargetPositions(const int n_joint, const int *joints, double *refs) override;
355 bool relativeMove(int j, double delta) override;
356 bool relativeMove(const int n_joint, const int *joints, const double *refs) override;
357 bool relativeMove(const double *deltas) override;
358 bool checkMotionDone(int j, bool *flag) override;
359 bool checkMotionDone(const int n_joint, const int *joints, bool *flag) override;
360 bool checkMotionDone(bool *flag) override;
361 bool setRefSpeed(int j, double sp) override;
362 bool setRefSpeeds(const int n_joint, const int *joints, const double *spds) override;
363 bool setRefSpeeds(const double *spds) override;
364 bool setRefAcceleration(int j, double acc) override;
365 bool setRefAccelerations(const int n_joint, const int *joints, const double *accs) override;
366 bool setRefAccelerations(const double *accs) override;
367 bool getRefSpeed(int j, double *ref) override;
368 bool getRefSpeeds(const int n_joint, const int *joints, double *spds) override;
369 bool getRefSpeeds(double *spds) override;
370 bool getRefAcceleration(int j, double *acc) override;
371 bool getRefAccelerations(const int n_joint, const int *joints, double *accs) override;
372 bool getRefAccelerations(double *accs) override;
373 bool stop(int j) override;
374 bool stop(const int len, const int *val1) override;
375 bool stop() override;
376
377 // IJointFault
378 bool getLastJointFault(int j, int& fault, std::string& message) override;
379
380 // IVelocityControl
381 bool velocityMove(int j, double v) override;
382 bool velocityMove(const double *v) override;
383
384 // IAmplifierControl
385 bool enableAmp(int j) override;
386 bool disableAmp(int j) override;
387 bool getAmpStatus(int *st) override;
388 bool getAmpStatus(int j, int *st) override;
389 bool setMaxCurrent(int j, double v) override;
390 bool getMaxCurrent(int j, double *v) override;
391 bool getNominalCurrent(int m, double *val) override;
392 bool setNominalCurrent(int m, const double val) override;
393 bool getPeakCurrent(int m, double *val) override;
394 bool setPeakCurrent(int m, const double val) override;
395 bool getPWM(int m, double* val) override;
396 bool getPWMLimit(int m, double* val) override;
397 bool setPWMLimit(int m, const double val) override;
398 bool getPowerSupplyVoltage(int m, double* val) override;
399
400 // IControlLimits
401 bool setLimits(int axis, double min, double max) override;
402 bool getLimits(int axis, double *min, double *max) override;
403 bool setVelLimits(int axis, double min, double max) override;
404 bool getVelLimits(int axis, double *min, double *max) override;
405
406 // IAxisInfo
407 bool getAxisName(int j, std::string& name) override;
408 bool getJointType(int j, yarp::dev::JointTypeEnum& type) override;
409
410 // IControlCalibration
411 bool calibrateRobot() override;
412 bool abortCalibration() override;
413 bool abortPark() override;
414 bool park(bool wait=true) override;
415 bool calibrateAxisWithParams(int j, unsigned int ui, double v1, double v2, double v3) override;
416 bool setCalibrationParameters(int j, const CalibrationParameters& params) override;
417 bool calibrationDone(int j) override;
418
419 // ITorqueControl
420 bool getRefTorque(int j, double *t) override;
421 bool getRefTorques(double *t) override;
422 bool setRefTorques(const double *t) override;
423 bool setRefTorque(int j, double v) override;
424 bool setRefTorques(const int n_joint, const int *joints, const double *t) override;
425 bool setMotorTorqueParams(int j, const MotorTorqueParameters params) override;
426 bool getMotorTorqueParams(int j, MotorTorqueParameters *params) override;
427 bool getTorque(int j, double *t) override;
428 bool getTorques(double *t) override;
429 bool getTorqueRange(int j, double *min, double* max) override;
430 bool getTorqueRanges(double *min, double *max) override;
431
432 // IImpedanceControl
433 bool getImpedance(int j, double *stiffness, double *damping) override;
434 bool getImpedanceOffset(int j, double *offset) override;
435 bool setImpedance(int j, double stiffness, double damping) override;
436 bool setImpedanceOffset(int j, double offset) override;
437 bool getCurrentImpedanceLimit(int j, double *min_stiff, double *max_stiff, double *min_damp, double *max_damp) override;
438
439 // IControlMode
440 bool getControlMode(int j, int *mode) override;
441 bool getControlModes(int *modes) override;
442 bool getControlModes(const int n_joint, const int *joints, int *modes) override;
443 bool setControlMode(const int j, const int mode) override;
444 bool setControlModes(const int n_joint, const int *joints, int *modes) override;
445 bool setControlModes(int *modes) override;
446
447 // IPositionDirect
448 bool setPosition(int j, double ref) override;
449 bool setPositions(const int n_joint, const int *joints, const double *refs) override;
450 bool setPositions(const double *refs) override;
451 bool getRefPosition(const int joint, double* ref) override;
452 bool getRefPositions(double* refs) override;
453 bool getRefPositions(const int n_joint, const int* joints, double* refs) override;
454
455 // IVelocityControl
456 bool velocityMove(const int n_joint, const int *joints, const double *spds) override;
457 bool getRefVelocity(const int joint, double* vel) override;
458 bool getRefVelocities(double* vels) override;
459 bool getRefVelocities(const int n_joint, const int* joints, double* vels) override;
460
461 // IInteractionMode
462 bool getInteractionMode(int axis, yarp::dev::InteractionModeEnum* mode) override;
463 bool getInteractionModes(int n_joints, int *joints, yarp::dev::InteractionModeEnum* modes) override;
464 bool getInteractionModes(yarp::dev::InteractionModeEnum* modes) override;
465 bool setInteractionMode(int axis, yarp::dev::InteractionModeEnum mode) override;
466 bool setInteractionModes(int n_joints, int *joints, yarp::dev::InteractionModeEnum* modes) override;
467 bool setInteractionModes(yarp::dev::InteractionModeEnum* modes) override;
468
469 // IRemoteCalibrator
470 bool isCalibratorDevicePresent(bool *isCalib) override;
471 bool calibrateSingleJoint(int j) override;
472 bool calibrateWholePart() override;
473 bool homingSingleJoint(int j) override;
474 bool homingWholePart() override;
475 bool parkSingleJoint(int j, bool _wait=true) override;
476 bool parkWholePart() override;
477 bool quitCalibrate() override;
478 bool quitPark() override;
479
480 // ICurrentControl
481 bool getRefCurrents(double *t) override;
482 bool getRefCurrent(int j, double *t) override;
483 bool setRefCurrents(const double *refs) override;
484 bool setRefCurrent(int j, double ref) override;
485 bool setRefCurrents(const int n_joint, const int *joints, const double *refs) override;
486 bool getCurrents(double *vals) override;
487 bool getCurrent(int j, double *val) override;
488 bool getCurrentRange(int j, double *min, double *max) override;
489 bool getCurrentRanges(double *min, double *max) override;
490
491 // IPWMControl
492 bool setRefDutyCycle(int j, double v) override;
493 bool setRefDutyCycles(const double *v) override;
494 bool getRefDutyCycle(int j, double *ref) override;
495 bool getRefDutyCycles(double *refs) override;
496 bool getDutyCycle(int j, double *out) override;
497 bool getDutyCycles(double *outs) override;
498
499 // IJointBrake
500 yarp::dev::ReturnValue isJointBraked(int j, bool& braked) const override;
501 yarp::dev::ReturnValue setManualBrakeActive(int j, bool active) override;
502 yarp::dev::ReturnValue setAutoBrakeEnabled(int j, bool enabled) override;
503 yarp::dev::ReturnValue getAutoBrakeEnabled(int j, bool& enabled) const override;
504
505 // IVelocityDirect
506 yarp::dev::ReturnValue getAxes(size_t& axes) override;
507 yarp::dev::ReturnValue setDesiredVelocity(int jnt, double vel) override;
508 yarp::dev::ReturnValue setDesiredVelocity(const std::vector<double>& vels) override;
509 yarp::dev::ReturnValue setDesiredVelocity(const std::vector<int>& jnts, const std::vector<double>& vels) override;
510 yarp::dev::ReturnValue getDesiredVelocity(const int jnt, double& vel) override;
511 yarp::dev::ReturnValue getDesiredVelocity(std::vector<double>& vels) override;
512 yarp::dev::ReturnValue getDesiredVelocity(const std::vector<int>& jnts, std::vector<double>& vels) override;
513};
514
515
516
517#endif // YARP_DEV_REMOTECONTROLBOARD_REMOTECONTROLBOARD_H
mode
FeatureMode mode
Definition FakeFrameGrabber_Controls.cpp:33
IAmplifierControl.h
define control board standard interfaces
IAxisInfo.h
define control board standard interfaces
IControlLimits.h
define control board standard interfaces
RemoteControlBoard_ParamsParser.h
Vector.h
contains the definition of a Vector type
RemoteControlBoard_ParamsParser
This class is the parameters parser for class RemoteControlBoard.
Definition RemoteControlBoard_ParamsParser.h:56
RemoteControlBoard
remote_controlboard: The client side of the control board, connects to a remote controlboard using th...
Definition RemoteControlBoard.h:81
RemoteControlBoard::setPidReferences
bool setPidReferences(const PidControlTypeEnum &pidtype, const double *refs) override
Set the controller reference, multiple axes.
Definition RemoteControlBoard.cpp:1138
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:2204
RemoteControlBoard::relativeMove
bool relativeMove(int j, double delta) override
Set relative position.
Definition RemoteControlBoard.cpp:1707
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:2299
RemoteControlBoard::getRefSpeeds
bool getRefSpeeds(const int n_joint, const int *joints, double *spds) override
Get reference speed of all joints.
Definition RemoteControlBoard.cpp:1772
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:771
RemoteControlBoard::quitCalibrate
bool quitCalibrate() override
quitCalibrate: interrupt the calibration procedure
Definition RemoteControlBoard.cpp:2698
RemoteControlBoard::getRefPositions
bool getRefPositions(double *refs) override
Get the last position reference for all axes.
Definition RemoteControlBoard.cpp:2480
RemoteControlBoard::state_buffer
yarp::os::PortReaderBuffer< yarp::sig::Vector > state_buffer
Definition RemoteControlBoard.h:88
RemoteControlBoard::get1V1I1IA1B
bool get1V1I1IA1B(int v, const int len, const int *val1, bool &retVal)
Definition RemoteControlBoard.cpp:786
RemoteControlBoard::open
bool open(Searchable &config) override
Open the DeviceDriver.
Definition RemoteControlBoard.cpp:117
RemoteControlBoard::getEncoder
bool getEncoder(int j, double *v) override
Read the value of an encoder.
Definition RemoteControlBoard.cpp:1355
RemoteControlBoard::send2V1I
bool send2V1I(int v1, int v2, int axis)
Definition RemoteControlBoard.cpp:364
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:2442
RemoteControlBoard::last_wholePart
yarp::dev::impl::jointData last_wholePart
Definition RemoteControlBoard.h:100
RemoteControlBoard::setControlMode
bool setControlMode(const int j, const int mode) override
Set the current control mode.
Definition RemoteControlBoard.cpp:2363
RemoteControlBoard::isPidEnabled
bool isPidEnabled(const PidControlTypeEnum &pidtype, int j, bool *enabled) override
Get the current status (enabled/disabled) of the pid.
Definition RemoteControlBoard.cpp:1299
RemoteControlBoard::~RemoteControlBoard
~RemoteControlBoard() override=default
RemoteControlBoard::getPeakCurrent
bool getPeakCurrent(int m, double *val) override
Definition RemoteControlBoard.cpp:1927
RemoteControlBoard::getLimits
bool getLimits(int axis, double *min, double *max) override
Get the software limits for a particular axis.
Definition RemoteControlBoard.cpp:1970
RemoteControlBoard::RemoteControlBoard
RemoteControlBoard(const RemoteControlBoard &)=delete
RemoteControlBoard::getPWM
bool getPWM(int m, double *val) override
Definition RemoteControlBoard.cpp:1937
RemoteControlBoard::command_buffer
yarp::os::PortWriterBuffer< CommandMessage > command_buffer
Definition RemoteControlBoard.h:89
RemoteControlBoard::get1VDA
bool get1VDA(int v, double *val)
Helper method to get an array of double from the remote peer.
Definition RemoteControlBoard.cpp:894
RemoteControlBoard::set2V1DA
bool set2V1DA(int v1, int v2, const double *val)
Definition RemoteControlBoard.cpp:517
RemoteControlBoard::get1V1I
bool get1V1I(int code, int &v) const
Send a GET command expecting an integer value in return.
Definition RemoteControlBoard.cpp:457
RemoteControlBoard::getNominalCurrent
bool getNominalCurrent(int m, double *val) override
Definition RemoteControlBoard.cpp:1917
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:1254
RemoteControlBoard::setPeakCurrent
bool setPeakCurrent(int m, const double val) override
Definition RemoteControlBoard.cpp:1932
RemoteControlBoard::getPidOutputs
bool getPidOutputs(const PidControlTypeEnum &pidtype, double *outs) override
Get the output of the controllers (e.g.
Definition RemoteControlBoard.cpp:1321
RemoteControlBoard::send2V
bool send2V(int v1, int v2)
Definition RemoteControlBoard.cpp:352
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:425
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:2570
RemoteControlBoard::getTemperatureLimit
bool getTemperatureLimit(int m, double *val) override
Retreives the current temperature limit for a specific motor.
Definition RemoteControlBoard.cpp:1518
RemoteControlBoard::getPidError
bool getPidError(const PidControlTypeEnum &pidtype, int j, double *err) override
Get the current error for a joint.
Definition RemoteControlBoard.cpp:1153
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:1234
RemoteControlBoard::homingSingleJoint
bool homingSingleJoint(int j) override
homingSingleJoint: call the homing procedure for a single joint
Definition RemoteControlBoard.cpp:2667
RemoteControlBoard::checkMotionDone
bool checkMotionDone(int j, bool *flag) override
Check if the current trajectory is terminated.
Definition RemoteControlBoard.cpp:1722
RemoteControlBoard::getMotorEncoderCountsPerRevolution
bool getMotorEncoderCountsPerRevolution(int m, double *cpr) override
Gets number of counts per revolution for motor encoder m.
Definition RemoteControlBoard.cpp:1562
RemoteControlBoard::getDesiredVelocity
yarp::dev::ReturnValue getDesiredVelocity(const int jnt, double &vel) override
Get the last reference velocity set by setDesiredVelocity() for a single joint.
Definition RemoteControlBoard.cpp:3014
RemoteControlBoard::setMotorEncoderCountsPerRevolution
bool setMotorEncoderCountsPerRevolution(int m, const double cpr) override
Sets number of counts per revolution for motor encoder m.
Definition RemoteControlBoard.cpp:1557
RemoteControlBoard::set2V1I
bool set2V1I(int v1, int v2, int axis)
Definition RemoteControlBoard.cpp:670
RemoteControlBoard::setRefDutyCycle
bool setRefDutyCycle(int j, double v) override
Sets the reference dutycycle to a single motor.
Definition RemoteControlBoard.cpp:2814
RemoteControlBoard::getRefAccelerations
bool getRefAccelerations(const int n_joint, const int *joints, double *accs) override
Get reference acceleration for a joint.
Definition RemoteControlBoard.cpp:1787
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:1143
RemoteControlBoard::setMaxCurrent
bool setMaxCurrent(int j, double v) override
Definition RemoteControlBoard.cpp:1907
RemoteControlBoard::getPowerSupplyVoltage
bool getPowerSupplyVoltage(int m, double *val) override
Definition RemoteControlBoard.cpp:1956
RemoteControlBoard::getRefVelocity
bool getRefVelocity(const int joint, double *vel) override
Get the last reference speed set by velocityMove for single joint.
Definition RemoteControlBoard.cpp:2514
RemoteControlBoard::getPidOutput
bool getPidOutput(const PidControlTypeEnum &pidtype, int j, double *out) override
Get the output of the controller (e.g.
Definition RemoteControlBoard.cpp:1316
RemoteControlBoard::isJointBraked
yarp::dev::ReturnValue isJointBraked(int j, bool &braked) const override
Check is the joint brake is currently active.
Definition RemoteControlBoard.cpp:2902
RemoteControlBoard::get1V1I1IA1DA
bool get1V1I1IA1DA(int v, const int len, const int *val1, double *val2)
Definition RemoteControlBoard.cpp:1032
RemoteControlBoard::get1V1DA
bool get1V1DA(int v1, double *val)
Helper method to get an array of double from the remote peer.
Definition RemoteControlBoard.cpp:921
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:1737
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:2587
RemoteControlBoard::getRefCurrent
bool getRefCurrent(int j, double *t) override
Get the reference value of the current for a single motor.
Definition RemoteControlBoard.cpp:2727
RemoteControlBoard::getEncoders
bool getEncoders(double *encs) override
Read the position of all axes.
Definition RemoteControlBoard.cpp:1376
RemoteControlBoard::get1V1I1S
bool get1V1I1S(int code, int j, std::string &name)
Definition RemoteControlBoard.cpp:1016
RemoteControlBoard::set1V
bool set1V(int code)
Send a SET command without parameters and wait for a reply.
Definition RemoteControlBoard.cpp:403
RemoteControlBoard::getLastInputStamp
Stamp getLastInputStamp() override
Get the time stamp for the last read data.
Definition RemoteControlBoard.cpp:1664
RemoteControlBoard::getMotorEncoder
bool getMotorEncoder(int j, double *v) override
Read the value of a motor encoder.
Definition RemoteControlBoard.cpp:1572
RemoteControlBoard::getTemperature
bool getTemperature(int m, double *val) override
Get temperature of a motor.
Definition RemoteControlBoard.cpp:1497
RemoteControlBoard::setPidReference
bool setPidReference(const PidControlTypeEnum &pidtype, int j, double ref) override
Set the controller reference for a given axis.
Definition RemoteControlBoard.cpp:1133
RemoteControlBoard::setImpedance
bool setImpedance(int j, double stiffness, double damping) override
Set current impedance gains (stiffness,damping) for a specific joint.
Definition RemoteControlBoard.cpp:2268
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:1582
RemoteControlBoard::getDutyCycles
bool getDutyCycles(double *outs) override
Gets the current dutycycle of the output of the amplifier (i.e.
Definition RemoteControlBoard.cpp:2891
RemoteControlBoard::setRefCurrent
bool setRefCurrent(int j, double ref) override
Set the reference value of the current for a single motor.
Definition RemoteControlBoard.cpp:2747
RemoteControlBoard::diagnosticThread
DiagnosticThread * diagnosticThread
Definition RemoteControlBoard.h:85
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:2379
RemoteControlBoard::setPid
bool setPid(const PidControlTypeEnum &pidtype, int j, const Pid &pid) override
Set new pid value for a joint axis.
Definition RemoteControlBoard.cpp:1081
RemoteControlBoard::set1V1I2D
bool set1V1I2D(int code, int j, double val1, double val2)
Definition RemoteControlBoard.cpp:488
RemoteControlBoard::getPidErrors
bool getPidErrors(const PidControlTypeEnum &pidtype, double *errs) override
Get the error of all joints.
Definition RemoteControlBoard.cpp:1158
RemoteControlBoard::close
bool close() override
Close the device driver and stop the port connections.
Definition RemoteControlBoard.cpp:319
RemoteControlBoard::parkSingleJoint
bool parkSingleJoint(int j, bool _wait=true) override
parkSingleJoint(): start the parking procedure for the single joint
Definition RemoteControlBoard.cpp:2683
RemoteControlBoard::setMotorEncoders
bool setMotorEncoders(const double *vals) override
Set the value of all motor encoders.
Definition RemoteControlBoard.cpp:1567
RemoteControlBoard::last_singleJoint
yarp::dev::impl::jointData last_singleJoint
Definition RemoteControlBoard.h:98
RemoteControlBoard::getTargetPositions
bool getTargetPositions(double *refs) override
Get the last position reference for all axes.
Definition RemoteControlBoard.cpp:1697
RemoteControlBoard::RemoteControlBoard
RemoteControlBoard(RemoteControlBoard &&)=delete
RemoteControlBoard::setEncoders
bool setEncoders(const double *vals) override
Set the value of all encoders.
Definition RemoteControlBoard.cpp:1350
RemoteControlBoard::set1VDA
bool set1VDA(int v, const double *val)
Helper method used to set an array of double to all axes.
Definition RemoteControlBoard.cpp:501
RemoteControlBoard::getPid
bool getPid(const PidControlTypeEnum &pidtype, int j, Pid *pid) override
Get current pid value for a specific joint.
Definition RemoteControlBoard.cpp:1163
RemoteControlBoard::setPosition
bool setPosition(int j, double ref) override
Set new position for a single axis.
Definition RemoteControlBoard.cpp:2427
RemoteControlBoard::get2V1I2D
bool get2V1I2D(int v1, int v2, int j, double *val1, double *val2)
Definition RemoteControlBoard.cpp:735
RemoteControlBoard::getJointType
bool getJointType(int j, yarp::dev::JointTypeEnum &type) override
Definition RemoteControlBoard.cpp:1994
RemoteControlBoard::resetMotorEncoder
bool resetMotorEncoder(int j) override
Reset motor encoder, single motor.
Definition RemoteControlBoard.cpp:1542
RemoteControlBoard::getEncoderSpeed
bool getEncoderSpeed(int j, double *sp) override
Read the istantaneous speed of an axis.
Definition RemoteControlBoard.cpp:1398
RemoteControlBoard::setGearboxRatio
bool setGearboxRatio(int m, const double val) override
Set the gearbox ratio for a specific motor.
Definition RemoteControlBoard.cpp:1533
RemoteControlBoard::resetMotorEncoders
bool resetMotorEncoders() override
Reset motor encoders.
Definition RemoteControlBoard.cpp:1547
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:2806
RemoteControlBoard::getAmpStatus
bool getAmpStatus(int *st) override
Definition RemoteControlBoard.cpp:1897
RemoteControlBoard::setRefTorque
bool setRefTorque(int j, double v) override
Set the reference value of the torque for a given joint.
Definition RemoteControlBoard.cpp:2099
RemoteControlBoard::enablePid
bool enablePid(const PidControlTypeEnum &pidtype, int j) override
Enable the pid computation for a joint.
Definition RemoteControlBoard.cpp:1284
RemoteControlBoard::calibrateWholePart
bool calibrateWholePart() override
calibrateWholePart: call the procedure for calibrating the whole device
Definition RemoteControlBoard.cpp:2657
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:2227
RemoteControlBoard::getPidErrorLimits
bool getPidErrorLimits(const PidControlTypeEnum &pidtype, double *limits) override
Get the error limit for all controllers.
Definition RemoteControlBoard.cpp:1249
RemoteControlBoard::setManualBrakeActive
yarp::dev::ReturnValue setManualBrakeActive(int j, bool active) override
Enables/Disables manually the joint brake.
Definition RemoteControlBoard.cpp:2914
RemoteControlBoard::getMotorEncoders
bool getMotorEncoders(double *encs) override
Read the position of all motor encoders.
Definition RemoteControlBoard.cpp:1593
RemoteControlBoard::setPids
bool setPids(const PidControlTypeEnum &pidtype, const Pid *pids) override
Set new pid value on multiple axes.
Definition RemoteControlBoard.cpp:1104
RemoteControlBoard::setMotorEncoder
bool setMotorEncoder(int j, const double val) override
Set the value of the motor encoder for a given motor.
Definition RemoteControlBoard.cpp:1552
RemoteControlBoard::velocityMove
bool velocityMove(int j, double v) override
Start motion at a given speed, single joint.
Definition RemoteControlBoard.cpp:1854
RemoteControlBoard::setRemoteVariable
bool setRemoteVariable(std::string key, const yarp::os::Bottle &val) override
Definition RemoteControlBoard.cpp:1456
RemoteControlBoard::setPidErrorLimits
bool setPidErrorLimits(const PidControlTypeEnum &pidtype, const double *limits) override
Get the error limit for the controller on all joints.
Definition RemoteControlBoard.cpp:1148
RemoteControlBoard::RemoteControlBoard
RemoteControlBoard()=default
RemoteControlBoard::getAutoBrakeEnabled
yarp::dev::ReturnValue getAutoBrakeEnabled(int j, bool &enabled) const override
checks if the automatic joint brake mode is enabled or disabled.
Definition RemoteControlBoard.cpp:2936
RemoteControlBoard::calibrationDone
bool calibrationDone(int j) override
Check if the calibration is terminated, on a particular joint.
Definition RemoteControlBoard.cpp:2061
RemoteControlBoard::setPidOffset
bool setPidOffset(const PidControlTypeEnum &pidtype, int j, double v) override
Set offset value for a given controller.
Definition RemoteControlBoard.cpp:1326
RemoteControlBoard::get2V1I1D
bool get2V1I1D(int v1, int v2, int j, double *val)
Definition RemoteControlBoard.cpp:716
RemoteControlBoard::abortCalibration
bool abortCalibration() override
Definition RemoteControlBoard.cpp:2007
RemoteControlBoard::setRefCurrents
bool setRefCurrents(const double *refs) override
Set the reference value of the currents for all motors.
Definition RemoteControlBoard.cpp:2732
RemoteControlBoard::getMotorEncoderAcceleration
bool getMotorEncoderAcceleration(int j, double *acc) override
Read the instantaneous acceleration of a motor encoder.
Definition RemoteControlBoard.cpp:1633
RemoteControlBoard::setRefTorques
bool setRefTorques(const double *t) override
Set the reference value of the torque for all joints.
Definition RemoteControlBoard.cpp:2080
RemoteControlBoard::getNumberOfMotors
bool getNumberOfMotors(int *num) override
Get the number of available motors.
Definition RemoteControlBoard.cpp:1492
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:2542
RemoteControlBoard::get1VIA
bool get1VIA(int v, int *val)
Helper method to get an array of integers from the remote peer.
Definition RemoteControlBoard.cpp:867
RemoteControlBoard::set1V1I1IA1DA
bool set1V1I1IA1DA(int v, const int len, const int *val1, const double *val2)
Definition RemoteControlBoard.cpp:555
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:2533
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:2801
RemoteControlBoard::getEncoderAcceleration
bool getEncoderAcceleration(int j, double *acc) override
Read the instantaneous acceleration of an axis.
Definition RemoteControlBoard.cpp:1418
RemoteControlBoard::operator=
RemoteControlBoard & operator=(RemoteControlBoard &&)=delete
RemoteControlBoard::get1V1B
bool get1V1B(int v, bool &val)
Definition RemoteControlBoard.cpp:853
RemoteControlBoard::getVelLimits
bool getVelLimits(int axis, double *min, double *max) override
Get the software speed limits for a particular axis.
Definition RemoteControlBoard.cpp:1980
RemoteControlBoard::setEncoder
bool setEncoder(int j, double val) override
Set the value of the encoder for a given joint.
Definition RemoteControlBoard.cpp:1345
RemoteControlBoard::send1V1I
bool send1V1I(int v, int axis)
Definition RemoteControlBoard.cpp:377
RemoteControlBoard::setAutoBrakeEnabled
yarp::dev::ReturnValue setAutoBrakeEnabled(int j, bool enabled) override
Enables/Disables the automatic joint brake.
Definition RemoteControlBoard.cpp:2925
RemoteControlBoard::get1V1I2D
bool get1V1I2D(int code, int axis, double *v1, double *v2)
Definition RemoteControlBoard.cpp:754
RemoteControlBoard::resetEncoders
bool resetEncoders() override
Reset encoders.
Definition RemoteControlBoard.cpp:1340
RemoteControlBoard::setImpedanceOffset
bool setImpedanceOffset(int j, double offset) override
Set current force Offset for a specific joint.
Definition RemoteControlBoard.cpp:2284
RemoteControlBoard::get2V1I1IA1DA
bool get2V1I1IA1DA(int v1, int v2, const int n_joints, const int *joints, double *retVals, std::string functionName="")
Definition RemoteControlBoard.cpp:807
RemoteControlBoard::getGearboxRatio
bool getGearboxRatio(int m, double *val) override
Get the gearbox ratio for a specific motor.
Definition RemoteControlBoard.cpp:1528
RemoteControlBoard::getRefAcceleration
bool getRefAcceleration(int j, double *acc) override
Get reference acceleration for a joint.
Definition RemoteControlBoard.cpp:1782
RemoteControlBoard::getMaxCurrent
bool getMaxCurrent(int j, double *v) override
Returns the maximum electric current allowed for a given motor.
Definition RemoteControlBoard.cpp:1912
RemoteControlBoard::set2V2DA
bool set2V2DA(int v1, int v2, const double *val1, const double *val2)
Definition RemoteControlBoard.cpp:534
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:948
RemoteControlBoard::setRefAccelerations
bool setRefAccelerations(const int n_joint, const int *joints, const double *accs) override
Set reference acceleration on all joints.
Definition RemoteControlBoard.cpp:1757
RemoteControlBoard::setNominalCurrent
bool setNominalCurrent(int m, const double val) override
Definition RemoteControlBoard.cpp:1922
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:2162
RemoteControlBoard::getRefTorques
bool getRefTorques(double *t) override
Get the reference value of the torque for all joints.
Definition RemoteControlBoard.cpp:2075
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:2195
RemoteControlBoard::getRemoteVariable
bool getRemoteVariable(std::string key, yarp::os::Bottle &val) override
Definition RemoteControlBoard.cpp:1440
RemoteControlBoard::getRefDutyCycles
bool getRefDutyCycles(double *refs) override
Gets the last reference sent using the setRefDutyCycles function.
Definition RemoteControlBoard.cpp:2877
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:413
RemoteControlBoard::getRemoteVariablesList
bool getRemoteVariablesList(yarp::os::Bottle *listOfKeys) override
Definition RemoteControlBoard.cpp:1471
RemoteControlBoard::getMotorEncoderSpeed
bool getMotorEncoderSpeed(int j, double *sp) override
Read the istantaneous speed of a motor encoder.
Definition RemoteControlBoard.cpp:1615
RemoteControlBoard::getTemperatures
bool getTemperatures(double *vals) override
Get temperature of all the motors.
Definition RemoteControlBoard.cpp:1507
RemoteControlBoard::get2V2DA
bool get2V2DA(int v1, int v2, double *val1, double *val2)
Definition RemoteControlBoard.cpp:976
RemoteControlBoard::getLastJointFault
bool getLastJointFault(int j, int &fault, std::string &message) override
Definition RemoteControlBoard.cpp:1829
RemoteControlBoard::get1V1D
bool get1V1D(int code, double &v) const
Send a GET command expecting a double value in return.
Definition RemoteControlBoard.cpp:437
RemoteControlBoard::command_p
yarp::os::Port command_p
Definition RemoteControlBoard.h:84
RemoteControlBoard::setRefSpeeds
bool setRefSpeeds(const int n_joint, const int *joints, const double *spds) override
Set reference speed on all joints.
Definition RemoteControlBoard.cpp:1742
RemoteControlBoard::m_RPC
ControlBoardMsgs m_RPC
Definition RemoteControlBoard.h:106
RemoteControlBoard::getControlMode
bool getControlMode(int j, int *mode) override
Get the current control mode.
Definition RemoteControlBoard.cpp:2326
RemoteControlBoard::isCalibratorDevicePresent
bool isCalibratorDevicePresent(bool *isCalib) override
isCalibratorDevicePresent: check if a calibrator device has been set
Definition RemoteControlBoard.cpp:2637
RemoteControlBoard::homingWholePart
bool homingWholePart() override
homingWholePart: call the homing procedure for a the whole part/device
Definition RemoteControlBoard.cpp:2672
RemoteControlBoard::set2V1I1D
bool set2V1I1D(int v1, int v2, int axis, double val)
Definition RemoteControlBoard.cpp:577
RemoteControlBoard::parkWholePart
bool parkWholePart() override
parkWholePart: start the parking procedure for the whole part
Definition RemoteControlBoard.cpp:2688
RemoteControlBoard::calibrateRobot
bool calibrateRobot() override
Calibrate robot by using an external calibrator.
Definition RemoteControlBoard.cpp:2002
RemoteControlBoard::getControlModes
bool getControlModes(int *modes) override
Get the current control mode (multiple joints).
Definition RemoteControlBoard.cpp:2335
RemoteControlBoard::getMotorEncoderAccelerations
bool getMotorEncoderAccelerations(double *accs) override
Read the instantaneous acceleration of all motor encoders.
Definition RemoteControlBoard.cpp:1642
RemoteControlBoard::resetEncoder
bool resetEncoder(int j) override
Reset encoder, single joint.
Definition RemoteControlBoard.cpp:1335
RemoteControlBoard::getDutyCycle
bool getDutyCycle(int j, double *out) override
Gets the current dutycycle of the output of the amplifier (i.e.
Definition RemoteControlBoard.cpp:2882
RemoteControlBoard::getTargetPosition
bool getTargetPosition(const int joint, double *ref) override
Get the last position reference for the specified axis.
Definition RemoteControlBoard.cpp:1692
RemoteControlBoard::send3V1I
bool send3V1I(int v1, int v2, int v3, int j)
Definition RemoteControlBoard.cpp:389
RemoteControlBoard::getRefVelocities
bool getRefVelocities(double *vels) override
Get the last reference speed set by velocityMove for all joints.
Definition RemoteControlBoard.cpp:2519
RemoteControlBoard::getCurrent
bool getCurrent(int j, double *val) override
Definition RemoteControlBoard.cpp:2792
RemoteControlBoard::getAxes
bool getAxes(int *ax) override
Get the number of controlled axes.
Definition RemoteControlBoard.cpp:1074
RemoteControlBoard::extendedIntputStatePort
StateExtendedInputPort extendedIntputStatePort
Definition RemoteControlBoard.h:96
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:1244
RemoteControlBoard::stop
bool stop() override
Stop motion, multiple joints.
Definition RemoteControlBoard.cpp:1821
RemoteControlBoard::setPWMLimit
bool setPWMLimit(int m, const double val) override
Definition RemoteControlBoard.cpp:1951
RemoteControlBoard::getRefSpeed
bool getRefSpeed(int j, double *ref) override
Get reference speed for a joint.
Definition RemoteControlBoard.cpp:1767
RemoteControlBoard::getRefPosition
bool getRefPosition(const int joint, double *ref) override
Get the last position reference for the specified axis.
Definition RemoteControlBoard.cpp:2475
RemoteControlBoard::set1V1I1D
bool set1V1I1D(int code, int j, double val)
Helper method to set a double value to a single axis.
Definition RemoteControlBoard.cpp:477
RemoteControlBoard::getEncoderTimed
bool getEncoderTimed(int j, double *v, double *t) override
Read the instantaneous acceleration of all axes.
Definition RemoteControlBoard.cpp:1365
RemoteControlBoard::setCalibrationParameters
bool setCalibrationParameters(int j, const CalibrationParameters &params) override
Start calibration, this method is very often platform specific.
Definition RemoteControlBoard.cpp:2041
RemoteControlBoard::getRefTorque
bool getRefTorque(int j, double *t) override
Get the reference value of the torque for a given joint.
Definition RemoteControlBoard.cpp:2070
RemoteControlBoard::setTemperatureLimit
bool setTemperatureLimit(int m, const double val) override
Set the temperature limit for a specific motor.
Definition RemoteControlBoard.cpp:1523
RemoteControlBoard::m_rpcPort
yarp::os::Port m_rpcPort
Definition RemoteControlBoard.h:86
RemoteControlBoard::setValWithPidType
bool setValWithPidType(int voc, PidControlTypeEnum type, int axis, double val)
Definition RemoteControlBoard.cpp:589
RemoteControlBoard::calibrateSingleJoint
bool calibrateSingleJoint(int j) override
calibrateSingleJoint: call the calibration procedure for the single joint
Definition RemoteControlBoard.cpp:2652
RemoteControlBoard::enableAmp
bool enableAmp(int j) override
Enable the amplifier on a specific joint.
Definition RemoteControlBoard.cpp:1887
RemoteControlBoard::getEncoderSpeeds
bool getEncoderSpeeds(double *spds) override
Read the instantaneous speed of all axes.
Definition RemoteControlBoard.cpp:1408
RemoteControlBoard::getTorqueRanges
bool getTorqueRanges(double *min, double *max) override
Get the full scale of the torque sensors of all joints.
Definition RemoteControlBoard.cpp:2218
RemoteControlBoard::park
bool park(bool wait=true) override
Definition RemoteControlBoard.cpp:2017
RemoteControlBoard::setRefAcceleration
bool setRefAcceleration(int j, double acc) override
Set reference acceleration for a joint.
Definition RemoteControlBoard.cpp:1752
RemoteControlBoard::getRefDutyCycle
bool getRefDutyCycle(int j, double *ref) override
Gets the last reference sent using the setRefDutyCycle function.
Definition RemoteControlBoard.cpp:2854
RemoteControlBoard::getMotorEncodersTimed
bool getMotorEncodersTimed(double *encs, double *ts) override
Read the instantaneous position of all motor encoders.
Definition RemoteControlBoard.cpp:1604
RemoteControlBoard::getImpedanceOffset
bool getImpedanceOffset(int j, double *offset) override
Get current force Offset for a specific joint.
Definition RemoteControlBoard.cpp:2248
RemoteControlBoard::getValWithPidType
bool getValWithPidType(int voc, PidControlTypeEnum type, int j, double *val)
Definition RemoteControlBoard.cpp:623
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:2022
RemoteControlBoard::getNumberOfMotorEncoders
bool getNumberOfMotorEncoders(int *num) override
Get the number of available motor encoders.
Definition RemoteControlBoard.cpp:1651
RemoteControlBoard::disablePid
bool disablePid(const PidControlTypeEnum &pidtype, int j) override
Disable the pid computation for a joint.
Definition RemoteControlBoard.cpp:1269
RemoteControlBoard::getMotorEncoderSpeeds
bool getMotorEncoderSpeeds(double *spds) override
Read the instantaneous speed of all motor encoders.
Definition RemoteControlBoard.cpp:1624
RemoteControlBoard::setDesiredVelocity
yarp::dev::ReturnValue setDesiredVelocity(int jnt, double vel) override
Set the velocity of single joint.
Definition RemoteControlBoard.cpp:2962
RemoteControlBoard::getPWMLimit
bool getPWMLimit(int m, double *val) override
Definition RemoteControlBoard.cpp:1946
RemoteControlBoard::getCurrents
bool getCurrents(double *vals) override
Definition RemoteControlBoard.cpp:2783
RemoteControlBoard::disableAmp
bool disableAmp(int j) override
Disable the amplifier on a specific joint.
Definition RemoteControlBoard.cpp:1892
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:1975
RemoteControlBoard::getEncodersTimed
bool getEncodersTimed(double *encs, double *ts) override
Read the instantaneous acceleration of all axes.
Definition RemoteControlBoard.cpp:1387
RemoteControlBoard::getPids
bool getPids(const PidControlTypeEnum &pidtype, Pid *pids) override
Get current pid value for a specific joint.
Definition RemoteControlBoard.cpp:1193
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:681
RemoteControlBoard::getEncoderAccelerations
bool getEncoderAccelerations(double *accs) override
Read the instantaneous acceleration of all axes.
Definition RemoteControlBoard.cpp:1427
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:2141
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:1965
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:2213
RemoteControlBoard::setRefDutyCycles
bool setRefDutyCycles(const double *v) override
Sets the reference dutycycle for all the motors.
Definition RemoteControlBoard.cpp:2834
RemoteControlBoard::positionMove
bool positionMove(int j, double ref) override
Set new reference point for a single axis.
Definition RemoteControlBoard.cpp:1677
RemoteControlBoard::quitPark
bool quitPark() override
quitPark: interrupt the park procedure
Definition RemoteControlBoard.cpp:2708
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:699
RemoteControlBoard::getAxisName
bool getAxisName(int j, std::string &name) override
Definition RemoteControlBoard.cpp:1989
RemoteControlBoard::getPidReferences
bool getPidReferences(const PidControlTypeEnum &pidtype, double *refs) override
Get the current reference of all pid controllers.
Definition RemoteControlBoard.cpp:1239
RemoteControlBoard::getRefCurrents
bool getRefCurrents(double *t) override
Get the reference value of the currents for all motors.
Definition RemoteControlBoard.cpp:2722
yarp::dev::DeviceDriver
Interface implemented by all device drivers.
Definition DeviceDriver.h:29
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::IJointBrake
Interface for controlling a joint equipped with brakes (hardware or simulated).
Definition IJointBrake.h:23
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::IVelocityDirect
Interface for control boards implementing direct velocity control.
Definition IVelocityDirect.h:89
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:65
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:31
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