dynamixelAX12Ftdi: Documentation to be added More...

#include <DynamixelAX12Ftdi/DynamixelAX12FtdiDriver.h>

Inheritance diagram for DynamixelAX12FtdiDriver:

Public Member Functions
	DynamixelAX12FtdiDriver ()
	Constructor Initializes handle but doesn't open channel yet.

virtual	~DynamixelAX12FtdiDriver ()
	Destructor Closes connection and destroys device object.

bool	open (yarp::os::Searchable &config) override
	Open device Opens and configures the device.

bool	close () override
	Close device Closes the device and shuts down connection.

bool	configure (yarp::os::Searchable &config)
	Configure device online Configures parts of the device that can be configures online.

virtual int	sendCommand (unsigned char id, unsigned char inst[], int size, unsigned char ret[], int &retSize)
	Send instruction to device Send an instruction to a device of given ID.

virtual int	readParameter (unsigned char id, unsigned char param)
	Read parameter from motor Requests the value of a parameter from motor.

bool	getAxes (int *ax) override
	Get the number of controlled axes.

bool	positionMove (int j, double ref) override

bool	positionMove (const double *refs) override

bool	relativeMove (int j, double delta) override
	Set relative position.

bool	relativeMove (const double *deltas) override
	Set relative position, all joints.

bool	checkMotionDone (int j, bool *flag) override
	Check if the current trajectory is terminated.

bool	checkMotionDone (bool *flag) override
	Check if the current trajectory is terminated.

bool	setRefSpeed (int j, double sp) override
	Set reference speed for a joint, this is the speed used during the interpolation of the trajectory.

bool	setRefSpeeds (const double *spds) override
	Set reference speed on all joints.

bool	setRefAcceleration (int j, double acc) override
	not implemented

bool	setRefAccelerations (const double *accs) override
	not implemented

bool	getRefSpeed (int j, double *ref) override
	Get reference speed for a joint.

bool	getRefSpeeds (double *spds) override
	Get reference speed of all joints.

bool	getRefAcceleration (int j, double *acc) override
	not implemented

bool	getRefAccelerations (double *accs) override
	not implemented

bool	stop (int j) override
	Stop motion, single joint.

bool	stop () override
	Stop motion, multiple joints.

bool	getRefTorques (double *t) override
	Get the reference value of the torque for all joints.

bool	getRefTorque (int j, double *t) override
	Get the reference value of the torque for a given joint.

bool	setTorques (const double *t)

bool	setTorque (int j, double t)

bool	setTorquePid (int j, const Pid &pid)

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).

bool	getTorques (double *t) override
	Get the value of the torque for all joints (this is the feedback if you have torque sensors).

bool	setTorquePids (const Pid *pids)

bool	setTorqueErrorLimit (int j, double limit)

bool	setTorqueErrorLimits (const double *limits)

bool	getTorqueError (int j, double *err)

bool	getTorqueErrors (double *errs)

bool	getTorquePidOutput (int j, double *out)

bool	getTorquePidOutputs (double *outs)

bool	getTorquePid (int j, Pid *pid)

bool	getTorquePids (Pid *pids)

bool	getTorqueErrorLimit (int j, double *limit)

bool	getTorqueErrorLimits (double *limits)

bool	resetTorquePid (int j)

bool	disableTorquePid (int j)

bool	enableTorquePid (int j)

bool	setTorqueOffset (int j, double v)

bool	getBemfParam (int j, double *bemf)

bool	setBemfParam (int j, double bemf)

bool	resetEncoder (int j) override
	Reset encoder, single joint.

bool	resetEncoders () override
	Reset encoders.

bool	setEncoder (int j, double val) override
	Set the value of the encoder for a given joint.

bool	setEncoders (const double *vals) override
	Set the value of all encoders.

bool	getEncoder (int j, double *v) override
	Get the angle of servo.

bool	getEncoders (double *encs) override
	Read the position of all axes.

bool	getEncoderSpeed (int j, double *sp) override
	Read the istantaneous speed of an axis.

bool	getEncoderSpeeds (double *spds) override
	Read the instantaneous speed of all axes.

bool	getEncoderAcceleration (int j, double *spds) override
	Read the instantaneous acceleration of an axis.

bool	getEncoderAccelerations (double *accs) override
	Read the instantaneous acceleration of all axes.

bool	setRefTorques (const double *t) override
	Set the reference value of the torque for all joints.

bool	setRefTorque (int j, double t) override
	Set the reference value of the torque for a given joint.

bool	getTorqueRange (int j, double min, double max) override
	Get the full scale of the torque sensor of a given joint.

bool	getTorqueRanges (double min, double max) override
	Get the full scale of the torque sensors of all joints.

bool	positionMove (const int n_joint, const int joints, const double refs) override
	Set new reference point for a subset of joints.

bool	relativeMove (const int n_joint, const int joints, const double deltas) override
	Set relative position for a subset of joints.

bool	checkMotionDone (const int n_joint, const int joints, bool flag) override
	Check if the current trajectory is terminated.

bool	setRefSpeeds (const int n_joint, const int joints, const double spds) override
	Set reference speed on all joints.

bool	setRefAccelerations (const int n_joint, const int joints, const double accs) override
	Set reference acceleration on all joints.

bool	getRefSpeeds (const int n_joint, const int joints, double spds) override
	Get reference speed of all joints.

bool	getRefAccelerations (const int n_joint, const int joints, double accs) override
	Get reference acceleration for a joint.

bool	stop (const int n_joint, const int *joints) override
	Stop motion for subset of joints.

Public Member Functions inherited from yarp::dev::DeviceDriver
	DeviceDriver ()

	DeviceDriver (const DeviceDriver &other)=delete

	DeviceDriver (DeviceDriver &&other) noexcept=delete

DeviceDriver &	operator= (const DeviceDriver &other)=delete

DeviceDriver &	operator= (DeviceDriver &&other) noexcept=delete

virtual	~DeviceDriver ()

virtual std::string	id () const
	Return the id assigned to the PolyDriver.

virtual void	setId (const std::string &id)
	Set the id for this device.

template<class T >
bool	view (T *&x)
	Get an interface to the device driver.

virtual DeviceDriver *	getImplementation ()
	Some drivers are bureaucrats, pointing at others.

Public Member Functions inherited from yarp::dev::IPositionControl
virtual	~IPositionControl ()
	Destructor.

virtual bool	getTargetPosition (const int joint, double *ref)
	Get the last position reference for the specified axis.

virtual bool	getTargetPositions (double *refs)
	Get the last position reference for all axes.

virtual bool	getTargetPositions (const int n_joint, const int joints, double refs)
	Get the last position reference for the specified group of axes.

Public Member Functions inherited from yarp::dev::ITorqueControl
virtual	~ITorqueControl ()
	Destructor.

virtual bool	setRefTorques (const int n_joint, const int joints, const double t)
	Set new torque reference for a subset of joints.

virtual bool	getMotorTorqueParams (int j, yarp::dev::MotorTorqueParameters *params)
	Get a subset of motor parameters (bemf, ktau etc) useful for torque control.

virtual bool	setMotorTorqueParams (int j, const yarp::dev::MotorTorqueParameters params)
	Set a subset of motor parameters (bemf, ktau etc) useful for torque control.

Public Member Functions inherited from yarp::dev::IEncoders
virtual	~IEncoders ()
	Destructor.

Detailed Description

dynamixelAX12Ftdi: Documentation to be added

Definition at line 139 of file DynamixelAX12FtdiDriver.h.

Constructor & Destructor Documentation

◆ DynamixelAX12FtdiDriver()

DynamixelAX12FtdiDriver::DynamixelAX12FtdiDriver ( )

Constructor Initializes handle but doesn't open channel yet.

Definition at line 27 of file DynamixelAX12FtdiDriver.cpp.

◆ ~DynamixelAX12FtdiDriver()

DynamixelAX12FtdiDriver::~DynamixelAX12FtdiDriver ( )

virtual

Destructor Closes connection and destroys device object.

Definition at line 57 of file DynamixelAX12FtdiDriver.cpp.

Member Function Documentation

◆ checkMotionDone() [1/3]

bool DynamixelAX12FtdiDriver::checkMotionDone ( bool * flag )

overridevirtual

Check if the current trajectory is terminated.

Non blocking.

Parameters

flag	is a pointer to return value ("and" of all joints)

Returns: true/false on network communication (value you actually want is stored in *flag)

Implements yarp::dev::IPositionControl.

Definition at line 454 of file DynamixelAX12FtdiDriver.cpp.

◆ checkMotionDone() [2/3]

bool DynamixelAX12FtdiDriver::checkMotionDone	(	const int	n_joint,
		const int *	joints,
		bool *	flag
	)

overridevirtual

Check if the current trajectory is terminated.

Non blocking.

Parameters

joints	pointer to the array of joint numbers
flag	pointer to return value (logical "and" of all set of joints)

Returns: true/false if network communication went well.

Implements yarp::dev::IPositionControl.

Definition at line 928 of file DynamixelAX12FtdiDriver.cpp.

◆ checkMotionDone() [3/3]

bool DynamixelAX12FtdiDriver::checkMotionDone	(	int	j,
		bool *	flag
	)

overridevirtual

Check if the current trajectory is terminated.

Non blocking.

Parameters

j	is the axis number
flag	is a pointer to return value

Returns: true/false on network communication (value you actually want is stored in *flag)

Implements yarp::dev::IPositionControl.

Definition at line 445 of file DynamixelAX12FtdiDriver.cpp.

◆ close()

bool DynamixelAX12FtdiDriver::close ( )

overridevirtual

Close device Closes the device and shuts down connection.

Returns: true on success

Reimplemented from yarp::dev::DeviceDriver.

Definition at line 182 of file DynamixelAX12FtdiDriver.cpp.

◆ configure()

bool DynamixelAX12FtdiDriver::configure ( yarp::os::Searchable & config )

Configure device online Configures parts of the device that can be configures online.

Parameters

config Config file containing string pairs for parameters

Returns: true on success

Definition at line 202 of file DynamixelAX12FtdiDriver.cpp.

◆ disableTorquePid()

bool DynamixelAX12FtdiDriver::disableTorquePid ( int j )

Definition at line 718 of file DynamixelAX12FtdiDriver.cpp.

◆ enableTorquePid()

bool DynamixelAX12FtdiDriver::enableTorquePid ( int j )

Definition at line 723 of file DynamixelAX12FtdiDriver.cpp.

◆ getAxes()

bool DynamixelAX12FtdiDriver::getAxes ( int * ax )

overridevirtual

Get the number of controlled axes.

This command asks the number of controlled axes for the current physical interface.

Parameters

ax	pointer to storage

Returns: true/false.

Implements yarp::dev::IPositionControl.

Definition at line 394 of file DynamixelAX12FtdiDriver.cpp.

◆ getBemfParam()

bool DynamixelAX12FtdiDriver::getBemfParam	(	int	j,
		double *	bemf
	)

Definition at line 733 of file DynamixelAX12FtdiDriver.cpp.

◆ getEncoder()

bool DynamixelAX12FtdiDriver::getEncoder	(	int	j,
		double *	v
	)

overridevirtual

Get the angle of servo.

Implements yarp::dev::IEncoders.

Definition at line 775 of file DynamixelAX12FtdiDriver.cpp.

◆ getEncoderAcceleration()

bool DynamixelAX12FtdiDriver::getEncoderAcceleration	(	int	j,
		double *	spds
	)

overridevirtual

Read the instantaneous acceleration of an axis.

Parameters

j	axis number
spds	pointer to the array that will contain the output

Implements yarp::dev::IEncoders.

Definition at line 855 of file DynamixelAX12FtdiDriver.cpp.

◆ getEncoderAccelerations()

bool DynamixelAX12FtdiDriver::getEncoderAccelerations ( double * accs )

overridevirtual

Read the instantaneous acceleration of all axes.

Parameters

accs	pointer to the array that will contain the output

Returns: true if all goes well, false if anything bad happens.

Implements yarp::dev::IEncoders.

Definition at line 859 of file DynamixelAX12FtdiDriver.cpp.

◆ getEncoders()

bool DynamixelAX12FtdiDriver::getEncoders ( double * encs )

overridevirtual

Read the position of all axes.

Parameters

encs	pointer to the array that will contain the output

Returns: true/false on success/failure

Implements yarp::dev::IEncoders.

Definition at line 805 of file DynamixelAX12FtdiDriver.cpp.

◆ getEncoderSpeed()

bool DynamixelAX12FtdiDriver::getEncoderSpeed	(	int	j,
		double *	sp
	)

overridevirtual

Read the istantaneous speed of an axis.

Parameters

j	axis number
sp	pointer to storage for the output

Returns: true if successful, false ... otherwise.

TODO should be changed. not very accurate, though close

Implements yarp::dev::IEncoders.

Definition at line 817 of file DynamixelAX12FtdiDriver.cpp.

◆ getEncoderSpeeds()

bool DynamixelAX12FtdiDriver::getEncoderSpeeds ( double * spds )

overridevirtual

Read the instantaneous speed of all axes.

Parameters

spds	pointer to storage for the output values

Returns: guess what? (true/false on success or failure).

Implements yarp::dev::IEncoders.

Definition at line 844 of file DynamixelAX12FtdiDriver.cpp.

◆ getRefAcceleration()

bool DynamixelAX12FtdiDriver::getRefAcceleration	(	int	j,
		double *	acc
	)

overridevirtual

not implemented

Implements yarp::dev::IPositionControl.

Definition at line 522 of file DynamixelAX12FtdiDriver.cpp.

◆ getRefAccelerations() [1/2]

bool DynamixelAX12FtdiDriver::getRefAccelerations	(	const int	n_joint,
		const int *	joints,
		double *	accs
	)

overridevirtual

Get reference acceleration for a joint.

Returns the acceleration used to generate the trajectory profile.

Parameters

joints	pointer to the array of joint numbers
accs	pointer to the array that will store the acceleration values

Returns: true/false on success/failure

Implements yarp::dev::IPositionControl.

Definition at line 971 of file DynamixelAX12FtdiDriver.cpp.

◆ getRefAccelerations() [2/2]

bool DynamixelAX12FtdiDriver::getRefAccelerations ( double * accs )

overridevirtual

not implemented

Implements yarp::dev::IPositionControl.

Definition at line 529 of file DynamixelAX12FtdiDriver.cpp.

◆ getRefSpeed()

bool DynamixelAX12FtdiDriver::getRefSpeed	(	int	j,
		double *	ref
	)

overridevirtual

Get reference speed for a joint.

Returns the speed used to generate the trajectory profile.

Parameters

j	joint number
ref	pointer to storage for the return value

Returns: true/false on success or failure

Implements yarp::dev::IPositionControl.

Definition at line 507 of file DynamixelAX12FtdiDriver.cpp.

◆ getRefSpeeds() [1/2]

bool DynamixelAX12FtdiDriver::getRefSpeeds	(	const int	n_joint,
		const int *	joints,
		double *	spds
	)

overridevirtual

Get reference speed of all joints.

These are the values used during the interpolation of the trajectory.

Parameters

joints	pointer to the array of joint numbers
spds	pointer to the array that will store the speed values.

Returns: true/false upon success/failure

Implements yarp::dev::IPositionControl.

Definition at line 961 of file DynamixelAX12FtdiDriver.cpp.

◆ getRefSpeeds() [2/2]

bool DynamixelAX12FtdiDriver::getRefSpeeds ( double * spds )

overridevirtual

Get reference speed of all joints.

These are the values used during the interpolation of the trajectory.

Parameters

spds	pointer to the array that will store the speed values.

Implements yarp::dev::IPositionControl.

Definition at line 512 of file DynamixelAX12FtdiDriver.cpp.

◆ getRefTorque()

bool DynamixelAX12FtdiDriver::getRefTorque	(	int	j,
		double *	t
	)

overridevirtual

Get the reference value of the torque for a given joint.

This is NOT the feedback (see getTorque instead).

Parameters

j	joint number
t	the returned reference torque of joint j

Returns: true/false on success/failure

Implements yarp::dev::ITorqueControl.

Definition at line 579 of file DynamixelAX12FtdiDriver.cpp.

◆ getRefTorques()

bool DynamixelAX12FtdiDriver::getRefTorques ( double * t )

overridevirtual

Get the reference value of the torque for all joints.

This is NOT the feedback (see getTorques instead).

Parameters

t	pointer to the array of torque values

Returns: true/false on success/failure

Implements yarp::dev::ITorqueControl.

Definition at line 571 of file DynamixelAX12FtdiDriver.cpp.

◆ getTorque()

bool DynamixelAX12FtdiDriver::getTorque	(	int	j,
		double *	t
	)

overridevirtual

Get the value of the torque on a given joint (this is the feedback if you have a torque sensor).

Parameters

j	joint number
t	pointer to the result value

Returns: true/false on success/failure

Implements yarp::dev::ITorqueControl.

Definition at line 622 of file DynamixelAX12FtdiDriver.cpp.

◆ getTorqueError()

bool DynamixelAX12FtdiDriver::getTorqueError	(	int	j,
		double *	err
	)

Definition at line 673 of file DynamixelAX12FtdiDriver.cpp.

◆ getTorqueErrorLimit()

bool DynamixelAX12FtdiDriver::getTorqueErrorLimit	(	int	j,
		double *	limit
	)

Definition at line 703 of file DynamixelAX12FtdiDriver.cpp.

◆ getTorqueErrorLimits()

bool DynamixelAX12FtdiDriver::getTorqueErrorLimits ( double * limits )

Definition at line 708 of file DynamixelAX12FtdiDriver.cpp.

◆ getTorqueErrors()

bool DynamixelAX12FtdiDriver::getTorqueErrors ( double * errs )

Definition at line 678 of file DynamixelAX12FtdiDriver.cpp.

◆ getTorquePid()

bool DynamixelAX12FtdiDriver::getTorquePid	(	int	j,
		Pid *	pid
	)

Definition at line 693 of file DynamixelAX12FtdiDriver.cpp.

◆ getTorquePidOutput()

bool DynamixelAX12FtdiDriver::getTorquePidOutput	(	int	j,
		double *	out
	)

Definition at line 683 of file DynamixelAX12FtdiDriver.cpp.

◆ getTorquePidOutputs()

bool DynamixelAX12FtdiDriver::getTorquePidOutputs ( double * outs )

Definition at line 688 of file DynamixelAX12FtdiDriver.cpp.

◆ getTorquePids()

bool DynamixelAX12FtdiDriver::getTorquePids ( Pid * pids )

Definition at line 698 of file DynamixelAX12FtdiDriver.cpp.

◆ getTorqueRange()

bool DynamixelAX12FtdiDriver::getTorqueRange	(	int	j,
		double *	min,
		double *	max
	)

overridevirtual

Get the full scale of the torque sensor of a given joint.

Parameters

j	joint number
min	minimum torque of the joint j
max	maximum torque of the joint j

Returns: true/false on success/failure

Implements yarp::dev::ITorqueControl.

Definition at line 767 of file DynamixelAX12FtdiDriver.cpp.

◆ getTorqueRanges()

bool DynamixelAX12FtdiDriver::getTorqueRanges	(	double *	min,
		double *	max
	)

overridevirtual

Get the full scale of the torque sensors of all joints.

Parameters

min	pointer to the array that will store minimum torques of the joints
max	pointer to the array that will store maximum torques of the joints

Returns: true/false on success/failure

Implements yarp::dev::ITorqueControl.

Definition at line 771 of file DynamixelAX12FtdiDriver.cpp.

◆ getTorques()

bool DynamixelAX12FtdiDriver::getTorques ( double * t )

overridevirtual

Get the value of the torque for all joints (this is the feedback if you have torque sensors).

Parameters

t	pointer to the array that will store the output

Returns: true/false on success/failure

Implements yarp::dev::ITorqueControl.

Definition at line 647 of file DynamixelAX12FtdiDriver.cpp.

◆ open()

bool DynamixelAX12FtdiDriver::open ( yarp::os::Searchable & config )

overridevirtual

Open device Opens and configures the device.

Parameters

config Config file containing string pairs for parameters

Returns: true on success

Reimplemented from yarp::dev::DeviceDriver.

Definition at line 66 of file DynamixelAX12FtdiDriver.cpp.

◆ positionMove() [1/3]

bool DynamixelAX12FtdiDriver::positionMove ( const double * refs )

overridevirtual

Parameters

refs	should be in range [1 300]

Implements yarp::dev::IPositionControl.

Definition at line 416 of file DynamixelAX12FtdiDriver.cpp.

◆ positionMove() [2/3]

bool DynamixelAX12FtdiDriver::positionMove	(	const int	n_joint,
		const int *	joints,
		const double *	refs
	)

overridevirtual

Set new reference point for a subset of joints.

Parameters

joints	pointer to the array of joint numbers
refs	pointer to the array specifying the new reference points

Returns: true/false on success/failure

Implements yarp::dev::IPositionControl.

Definition at line 908 of file DynamixelAX12FtdiDriver.cpp.

◆ positionMove() [3/3]

bool DynamixelAX12FtdiDriver::positionMove	(	int	j,
		double	ref
	)

overridevirtual

Parameters

refs	should be in range [1 300]

Implements yarp::dev::IPositionControl.

Definition at line 399 of file DynamixelAX12FtdiDriver.cpp.

◆ readParameter()

int DynamixelAX12FtdiDriver::readParameter	(	unsigned char	id,
		unsigned char	param
	)

virtual

Read parameter from motor Requests the value of a parameter from motor.

Parameters

id	The id of the device to be contacted
param	encodes address in control table and size of parameter (2 Bytes => address + 100, 1 byte => address)

Returns: value if read successful or -1

Definition at line 362 of file DynamixelAX12FtdiDriver.cpp.

◆ relativeMove() [1/3]

bool DynamixelAX12FtdiDriver::relativeMove ( const double * deltas )

overridevirtual

Set relative position, all joints.

Parameters

deltas pointer to the relative commands

Returns: true/false on success/failure

Implements yarp::dev::IPositionControl.

Definition at line 435 of file DynamixelAX12FtdiDriver.cpp.

◆ relativeMove() [2/3]

bool DynamixelAX12FtdiDriver::relativeMove	(	const int	n_joint,
		const int *	joints,
		const double *	deltas
	)

overridevirtual

Set relative position for a subset of joints.

Parameters

joints	pointer to the array of joint numbers
deltas	pointer to the array of relative commands

Returns: true/false on success/failure

Implements yarp::dev::IPositionControl.

Definition at line 918 of file DynamixelAX12FtdiDriver.cpp.

◆ relativeMove() [3/3]

bool DynamixelAX12FtdiDriver::relativeMove	(	int	j,
		double	delta
	)

overridevirtual

Set relative position.

The command is relative to the current position of the axis.

Parameters

j	joint axis number
delta	relative command

Returns: true/false on success/failure

Implements yarp::dev::IPositionControl.

Definition at line 426 of file DynamixelAX12FtdiDriver.cpp.

◆ resetEncoder()

bool DynamixelAX12FtdiDriver::resetEncoder ( int j )

overridevirtual

Reset encoder, single joint.

Set the encoder value to zero

Parameters

j	encoder number

Returns: true/false

Implements yarp::dev::IEncoders.

Definition at line 743 of file DynamixelAX12FtdiDriver.cpp.

◆ resetEncoders()

bool DynamixelAX12FtdiDriver::resetEncoders ( )

overridevirtual

Reset encoders.

Set the encoders value to zero

Returns: true/false

Implements yarp::dev::IEncoders.

Definition at line 747 of file DynamixelAX12FtdiDriver.cpp.

◆ resetTorquePid()

bool DynamixelAX12FtdiDriver::resetTorquePid ( int j )

Definition at line 713 of file DynamixelAX12FtdiDriver.cpp.

◆ sendCommand()

int DynamixelAX12FtdiDriver::sendCommand	(	unsigned char	id,
		unsigned char	inst[],
		int	size,
		unsigned char	ret[],
		int &	retSize
	)

virtual

Send instruction to device Send an instruction to a device of given ID.

The instruction has to be a byte arry containing the AX12 instruction code beginning with the instruction, the address and the parameters. Header and checksum are written automatically.

Parameters

id	The hex id of the device to be contacted
inst	Byte array containing the instruction body (instruction, address, parameters)

Returns: The content of the return packet of the device

TODO check if it works with Kaspar. Originally made by Sven. Need testing

Definition at line 220 of file DynamixelAX12FtdiDriver.cpp.

◆ setBemfParam()

bool DynamixelAX12FtdiDriver::setBemfParam	(	int	j,
		double	bemf
	)

Definition at line 738 of file DynamixelAX12FtdiDriver.cpp.

◆ setEncoder()

bool DynamixelAX12FtdiDriver::setEncoder	(	int	j,
		double	val
	)

overridevirtual

Set the value of the encoder for a given joint.

Parameters

j	encoder number
val	new value

Returns: true/false

Implements yarp::dev::IEncoders.

Definition at line 751 of file DynamixelAX12FtdiDriver.cpp.

◆ setEncoders()

bool DynamixelAX12FtdiDriver::setEncoders ( const double * vals )

overridevirtual

Set the value of all encoders.

Parameters

vals	pointer to the new values

Returns: true/false

Implements yarp::dev::IEncoders.

Definition at line 755 of file DynamixelAX12FtdiDriver.cpp.

◆ setRefAcceleration()

bool DynamixelAX12FtdiDriver::setRefAcceleration	(	int	j,
		double	acc
	)

overridevirtual

not implemented

Implements yarp::dev::IPositionControl.

Definition at line 496 of file DynamixelAX12FtdiDriver.cpp.

◆ setRefAccelerations() [1/2]

bool DynamixelAX12FtdiDriver::setRefAccelerations ( const double * accs )

overridevirtual

not implemented

Implements yarp::dev::IPositionControl.

Definition at line 503 of file DynamixelAX12FtdiDriver.cpp.

◆ setRefAccelerations() [2/2]

bool DynamixelAX12FtdiDriver::setRefAccelerations	(	const int	n_joint,
		const int *	joints,
		const double *	accs
	)

overridevirtual

Set reference acceleration on all joints.

This is the valure that is used during the generation of the trajectory.

Parameters

joints	pointer to the array of joint numbers
accs	pointer to the array with acceleration values

Returns: true/false upon success/failure

Implements yarp::dev::IPositionControl.

Definition at line 951 of file DynamixelAX12FtdiDriver.cpp.

◆ setRefSpeed()

bool DynamixelAX12FtdiDriver::setRefSpeed	(	int	j,
		double	sp
	)

overridevirtual

Set reference speed for a joint, this is the speed used during the interpolation of the trajectory.

Parameters

j	joint number
sp	speed value

Returns: true/false upon success/failure

Implements yarp::dev::IPositionControl.

Definition at line 468 of file DynamixelAX12FtdiDriver.cpp.

◆ setRefSpeeds() [1/2]

bool DynamixelAX12FtdiDriver::setRefSpeeds ( const double * spds )

overridevirtual

Set reference speed on all joints.

These values are used during the interpolation of the trajectory.

Parameters

spds	pointer to the array of speed values.

Returns: true/false upon success/failure

Implements yarp::dev::IPositionControl.

Definition at line 483 of file DynamixelAX12FtdiDriver.cpp.

◆ setRefSpeeds() [2/2]

bool DynamixelAX12FtdiDriver::setRefSpeeds	(	const int	n_joint,
		const int *	joints,
		const double *	spds
	)

overridevirtual

Set reference speed on all joints.

These values are used during the interpolation of the trajectory.

Parameters

joints	pointer to the array of joint numbers
spds	pointer to the array with speed values.

Returns: true/false upon success/failure

Implements yarp::dev::IPositionControl.

Definition at line 941 of file DynamixelAX12FtdiDriver.cpp.

◆ setRefTorque()

bool DynamixelAX12FtdiDriver::setRefTorque	(	int	j,
		double	t
	)

overridevirtual

Set the reference value of the torque for a given joint.

Parameters

j	joint number
t	new value

Returns: true/false on success/failure

Implements yarp::dev::ITorqueControl.

Definition at line 763 of file DynamixelAX12FtdiDriver.cpp.

◆ setRefTorques()

bool DynamixelAX12FtdiDriver::setRefTorques ( const double * t )

overridevirtual

Set the reference value of the torque for all joints.

Parameters

t	pointer to the array of torque values

Returns: true/false on success/failure

Implements yarp::dev::ITorqueControl.

Definition at line 759 of file DynamixelAX12FtdiDriver.cpp.

◆ setTorque()

bool DynamixelAX12FtdiDriver::setTorque	(	int	j,
		double	t
	)

Parameters

t	has not real unit. Although it can be roughly estimated based on the maximum toruqe as specified in the document Here t should be only set from 0 - 0x3FF (1023) as int

Definition at line 599 of file DynamixelAX12FtdiDriver.cpp.

◆ setTorqueErrorLimit()

bool DynamixelAX12FtdiDriver::setTorqueErrorLimit	(	int	j,
		double	limit
	)

Definition at line 663 of file DynamixelAX12FtdiDriver.cpp.

◆ setTorqueErrorLimits()

bool DynamixelAX12FtdiDriver::setTorqueErrorLimits ( const double * limits )

Definition at line 668 of file DynamixelAX12FtdiDriver.cpp.

◆ setTorqueOffset()

bool DynamixelAX12FtdiDriver::setTorqueOffset	(	int	j,
		double	v
	)

Definition at line 728 of file DynamixelAX12FtdiDriver.cpp.

◆ setTorquePid()

bool DynamixelAX12FtdiDriver::setTorquePid	(	int	j,
		const Pid &	pid
	)

Definition at line 617 of file DynamixelAX12FtdiDriver.cpp.

◆ setTorquePids()

bool DynamixelAX12FtdiDriver::setTorquePids ( const Pid * pids )

Definition at line 658 of file DynamixelAX12FtdiDriver.cpp.

◆ setTorques()

bool DynamixelAX12FtdiDriver::setTorques ( const double * t )

Definition at line 585 of file DynamixelAX12FtdiDriver.cpp.

◆ stop() [1/3]

bool DynamixelAX12FtdiDriver::stop ( )

overridevirtual

Stop motion, multiple joints.

Returns: true/false on success/failure

Implements yarp::dev::IPositionControl.

Definition at line 537 of file DynamixelAX12FtdiDriver.cpp.

◆ stop() [2/3]

bool DynamixelAX12FtdiDriver::stop	(	const int	n_joint,
		const int *	joints
	)

overridevirtual

Stop motion for subset of joints.

Parameters

joints pointer to the array of joint numbers

Returns: true/false on success/failure

Implements yarp::dev::IPositionControl.

Definition at line 981 of file DynamixelAX12FtdiDriver.cpp.

◆ stop() [3/3]

bool DynamixelAX12FtdiDriver::stop ( int j )

overridevirtual

Stop motion, single joint.

Parameters

j	joint number

Returns: true/false on success/failure

Implements yarp::dev::IPositionControl.

Definition at line 533 of file DynamixelAX12FtdiDriver.cpp.

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

src/devices/DynamixelAX12Ftdi/DynamixelAX12FtdiDriver.h
src/devices/DynamixelAX12Ftdi/DynamixelAX12FtdiDriver.cpp

Public Member Functions

Detailed Description

Constructor & Destructor Documentation

◆ DynamixelAX12FtdiDriver()

◆ ~DynamixelAX12FtdiDriver()

Member Function Documentation

◆ checkMotionDone() [1/3]

◆ checkMotionDone() [2/3]

◆ checkMotionDone() [3/3]

◆ close()

◆ configure()

◆ disableTorquePid()

◆ enableTorquePid()

◆ getAxes()

◆ getBemfParam()

◆ getEncoder()

◆ getEncoderAcceleration()

◆ getEncoderAccelerations()

◆ getEncoders()

◆ getEncoderSpeed()

◆ getEncoderSpeeds()

◆ getRefAcceleration()

◆ getRefAccelerations() [1/2]

◆ getRefAccelerations() [2/2]

◆ getRefSpeed()

◆ getRefSpeeds() [1/2]

◆ getRefSpeeds() [2/2]

◆ getRefTorque()

◆ getRefTorques()

◆ getTorque()

◆ getTorqueError()

◆ getTorqueErrorLimit()

◆ getTorqueErrorLimits()

◆ getTorqueErrors()

◆ getTorquePid()

◆ getTorquePidOutput()

◆ getTorquePidOutputs()

◆ getTorquePids()

◆ getTorqueRange()

◆ getTorqueRanges()

◆ getTorques()

◆ open()

◆ positionMove() [1/3]

◆ positionMove() [2/3]

◆ positionMove() [3/3]

◆ readParameter()

◆ relativeMove() [1/3]

◆ relativeMove() [2/3]

◆ relativeMove() [3/3]

◆ resetEncoder()

◆ resetEncoders()

◆ resetTorquePid()

◆ sendCommand()

◆ setBemfParam()

◆ setEncoder()

◆ setEncoders()

◆ setRefAcceleration()

◆ setRefAccelerations() [1/2]

◆ setRefAccelerations() [2/2]

◆ setRefSpeed()

◆ setRefSpeeds() [1/2]

◆ setRefSpeeds() [2/2]

◆ setRefTorque()

◆ setRefTorques()

◆ setTorque()

◆ setTorqueErrorLimit()

◆ setTorqueErrorLimits()

◆ setTorqueOffset()

◆ setTorquePid()

◆ setTorquePids()

◆ setTorques()

◆ stop() [1/3]

◆ stop() [2/3]

◆ stop() [3/3]