Control board, encoder interface. More...

#include <yarp/dev/IMotorEncoders.h>

Inheritance diagram for yarp::dev::IMotorEncodersRaw:

Public Member Functions
virtual	~IMotorEncodersRaw ()
	Destructor.

virtual bool	getNumberOfMotorEncodersRaw (int *num)=0
	Get the number of available motor encoders.

virtual bool	resetMotorEncoderRaw (int m)=0
	Reset motor encoder, single motor.

virtual bool	resetMotorEncodersRaw ()=0
	Reset motor encoders.

virtual bool	setMotorEncoderCountsPerRevolutionRaw (int m, const double cpr)=0
	Sets number of counts per revolution for motor encoder m.

virtual bool	getMotorEncoderCountsPerRevolutionRaw (int m, double *cpr)=0
	Gets number of counts per revolution for motor encoder m.

virtual bool	setMotorEncoderRaw (int m, const double val)=0
	Set the value of the motor encoder for a given motor.

virtual bool	setMotorEncodersRaw (const double *vals)=0
	Set the value of all motor encoders.

virtual bool	getMotorEncoderRaw (int m, double *v)=0
	Read the value of a motor encoder.

virtual bool	getMotorEncodersRaw (double *encs)=0
	Read the position of all motor encoders.

virtual bool	getMotorEncodersTimedRaw (double encs, double stamps)=0
	Read the instantaneous position of all motor encoders.

virtual bool	getMotorEncoderTimedRaw (int m, double encs, double stamp)=0
	Read the instantaneous position of a motor encoder.

virtual bool	getMotorEncoderSpeedRaw (int m, double *sp)=0
	Read the istantaneous speed of a motor encoder.

virtual bool	getMotorEncoderSpeedsRaw (double *spds)=0
	Read the instantaneous speed of all motor encoders.

virtual bool	getMotorEncoderAccelerationRaw (int m, double *spds)=0
	Read the instantaneous acceleration of a motor encoder.

virtual bool	getMotorEncoderAccelerationsRaw (double *accs)=0
	Read the instantaneous acceleration of all motor encoders.

Detailed Description

Control board, encoder interface.

Definition at line 22 of file IMotorEncoders.h.

Constructor & Destructor Documentation

◆ ~IMotorEncodersRaw()

virtual yarp::dev::IMotorEncodersRaw::~IMotorEncodersRaw ( )

inlinevirtual

Destructor.

Definition at line 28 of file IMotorEncoders.h.

Member Function Documentation

◆ getMotorEncoderAccelerationRaw()

virtual bool yarp::dev::IMotorEncodersRaw::getMotorEncoderAccelerationRaw	(	int	m,
		double *	spds
	)

pure virtual

Read the instantaneous acceleration of a motor encoder.

Parameters

m	motor number
acc	pointer to the array that will contain the output

Returns: true if successful, false otherwise.

Implemented in FakeMotionControlMicro, and FakeMotionControl.

◆ getMotorEncoderAccelerationsRaw()

virtual bool yarp::dev::IMotorEncodersRaw::getMotorEncoderAccelerationsRaw ( double * accs )

pure virtual

Read the instantaneous acceleration of all motor encoders.

Parameters

accs	pointer to the array that will contain the output

Returns: true if successful, false otherwise.

Implemented in FakeMotionControl, and FakeMotionControlMicro.

◆ getMotorEncoderCountsPerRevolutionRaw()

virtual bool yarp::dev::IMotorEncodersRaw::getMotorEncoderCountsPerRevolutionRaw	(	int	m,
		double *	cpr
	)

pure virtual

Gets number of counts per revolution for motor encoder m.

Parameters

m	motor number
cpr	vals pointer to the new value

Returns: true/false

Implemented in FakeMotionControl, and FakeMotionControlMicro.

◆ getMotorEncoderRaw()

virtual bool yarp::dev::IMotorEncodersRaw::getMotorEncoderRaw	(	int	m,
		double *	v
	)

pure virtual

Read the value of a motor encoder.

Parameters

m	motor encoder number
v	pointer to storage for the return value

Returns: true/false

Implemented in FakeMotionControlMicro, and FakeMotionControl.

◆ getMotorEncoderSpeedRaw()

virtual bool yarp::dev::IMotorEncodersRaw::getMotorEncoderSpeedRaw	(	int	m,
		double *	sp
	)

pure virtual

Read the istantaneous speed of a motor encoder.

Parameters

m	motor number
sp	pointer to storage for the output

Returns: true if successful, false otherwise.

Implemented in FakeMotionControlMicro, and FakeMotionControl.

◆ getMotorEncoderSpeedsRaw()

virtual bool yarp::dev::IMotorEncodersRaw::getMotorEncoderSpeedsRaw ( double * spds )

pure virtual

Read the instantaneous speed of all motor encoders.

Parameters

spds	pointer to storage for the output values

Returns: true if successful, false otherwise.

Implemented in FakeMotionControl, and FakeMotionControlMicro.

◆ getMotorEncodersRaw()

virtual bool yarp::dev::IMotorEncodersRaw::getMotorEncodersRaw ( double * encs )

pure virtual

Read the position of all motor encoders.

Parameters

encs	pointer to the array that will contain the output

Returns: true/false

Implemented in FakeMotionControl, and FakeMotionControlMicro.

◆ getMotorEncodersTimedRaw()

virtual bool yarp::dev::IMotorEncodersRaw::getMotorEncodersTimedRaw	(	double *	encs,
		double *	stamps
	)

pure virtual

Read the instantaneous position of all motor encoders.

Parameters

encs	pointer to the array that will contain the output
time	pointer to the array that will contain individual timestamps

Returns: true if successful, false otherwise.

Implemented in FakeMotionControl, and FakeMotionControlMicro.

◆ getMotorEncoderTimedRaw()

virtual bool yarp::dev::IMotorEncodersRaw::getMotorEncoderTimedRaw	(	int	m,
		double *	encs,
		double *	stamp
	)

pure virtual

Read the instantaneous position of a motor encoder.

Parameters

m	motor index
encs	encoder value (pointer to)
time	corresponding timestamp (pointer to)

Returns: true if successful, false otherwise.

Implemented in FakeMotionControl, and FakeMotionControlMicro.

◆ getNumberOfMotorEncodersRaw()

virtual bool yarp::dev::IMotorEncodersRaw::getNumberOfMotorEncodersRaw ( int * num )

pure virtual

Get the number of available motor encoders.

Parameters

m	pointer to a value representing the number of available motor encoders.

Returns: true/false

Implemented in FakeMotionControl, and FakeMotionControlMicro.

◆ resetMotorEncoderRaw()

virtual bool yarp::dev::IMotorEncodersRaw::resetMotorEncoderRaw ( int m )

pure virtual

Reset motor encoder, single motor.

Set the encoder value to zero.

Parameters

m	motor number

Returns: true/false

Implemented in FakeMotionControlMicro, and FakeMotionControl.

◆ resetMotorEncodersRaw()

virtual bool yarp::dev::IMotorEncodersRaw::resetMotorEncodersRaw ( )

pure virtual

Reset motor encoders.

Set the motor encoders value to zero.

Returns: true/false

Implemented in FakeMotionControl, and FakeMotionControlMicro.

◆ setMotorEncoderCountsPerRevolutionRaw()

virtual bool yarp::dev::IMotorEncodersRaw::setMotorEncoderCountsPerRevolutionRaw	(	int	m,
		const double	cpr
	)

pure virtual

Sets number of counts per revolution for motor encoder m.

Parameters

m	motor number
cpr	new value

Returns: true/false

Implemented in FakeMotionControl, and FakeMotionControlMicro.

◆ setMotorEncoderRaw()

virtual bool yarp::dev::IMotorEncodersRaw::setMotorEncoderRaw	(	int	m,
		const double	val
	)

pure virtual

Set the value of the motor encoder for a given motor.

Parameters

m	motor number
val	new value

Returns: true/false

Implemented in FakeMotionControlMicro, and FakeMotionControl.

◆ setMotorEncodersRaw()

virtual bool yarp::dev::IMotorEncodersRaw::setMotorEncodersRaw ( const double * vals )

pure virtual

Set the value of all motor encoders.

Parameters

vals	pointer to the new values

Returns: true/false

Implemented in FakeMotionControl, and FakeMotionControlMicro.

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

src/libYARP_dev/src/yarp/dev/IMotorEncoders.h

Public Member Functions

Detailed Description

Constructor & Destructor Documentation

◆ ~IMotorEncodersRaw()

Member Function Documentation

◆ getMotorEncoderAccelerationRaw()

◆ getMotorEncoderAccelerationsRaw()

◆ getMotorEncoderCountsPerRevolutionRaw()

◆ getMotorEncoderRaw()

◆ getMotorEncoderSpeedRaw()

◆ getMotorEncoderSpeedsRaw()

◆ getMotorEncodersRaw()

◆ getMotorEncodersTimedRaw()

◆ getMotorEncoderTimedRaw()

◆ getNumberOfMotorEncodersRaw()

◆ resetMotorEncoderRaw()

◆ resetMotorEncodersRaw()

◆ setMotorEncoderCountsPerRevolutionRaw()

◆ setMotorEncoderRaw()

◆ setMotorEncodersRaw()