Control board, encoder interface. More...
#include <yarp/dev/IEncoders.h>
Control board, encoder interface.
Definition at line 120 of file IEncoders.h.
Public Member Functions | |
virtual | ~IEncoders () |
Destructor. More... | |
virtual bool | getAxes (int *ax)=0 |
Get the number of controlled axes. More... | |
virtual bool | resetEncoder (int j)=0 |
Reset encoder, single joint. More... | |
virtual bool | resetEncoders ()=0 |
Reset encoders. More... | |
virtual bool | setEncoder (int j, double val)=0 |
Set the value of the encoder for a given joint. More... | |
virtual bool | setEncoders (const double *vals)=0 |
Set the value of all encoders. More... | |
virtual bool | getEncoder (int j, double *v)=0 |
Read the value of an encoder. More... | |
virtual bool | getEncoders (double *encs)=0 |
Read the position of all axes. More... | |
virtual bool | getEncoderSpeed (int j, double *sp)=0 |
Read the istantaneous speed of an axis. More... | |
virtual bool | getEncoderSpeeds (double *spds)=0 |
Read the instantaneous speed of all axes. More... | |
virtual bool | getEncoderAcceleration (int j, double *spds)=0 |
Read the instantaneous acceleration of an axis. More... | |
virtual bool | getEncoderAccelerations (double *accs)=0 |
Read the instantaneous acceleration of all axes. More... | |
|
inlinevirtual |
Destructor.
Definition at line 126 of file IEncoders.h.
|
pure virtual |
Get the number of controlled axes.
This command asks the number of controlled axes for the current physical interface.
Implemented in yarp::dev::ImplementEncodersTimed, yarp::dev::ImplementEncoders, RemoteControlBoard, FakeMotor, FakeMotionControl, FakeBot, DynamixelAX12FtdiDriver, ControlBoardWrapper, and ControlBoardRemapper.
|
pure virtual |
Read the value of an encoder.
j | encoder number |
v | pointer to storage for the return value |
Implemented in yarp::dev::ImplementEncodersTimed, yarp::dev::ImplementEncoders, RemoteControlBoard, FakeMotor, FakeBot, DynamixelAX12FtdiDriver, ControlBoardWrapper, and ControlBoardRemapper.
|
pure virtual |
Read the instantaneous acceleration of an axis.
j | axis number |
spds | pointer to the array that will contain the output |
Implemented in yarp::dev::ImplementEncodersTimed, yarp::dev::ImplementEncoders, FakeMotor, FakeBot, DynamixelAX12FtdiDriver, RemoteControlBoard, ControlBoardWrapper, and ControlBoardRemapper.
|
pure virtual |
Read the instantaneous acceleration of all axes.
accs | pointer to the array that will contain the output |
Implemented in yarp::dev::ImplementEncodersTimed, yarp::dev::ImplementEncoders, RemoteControlBoard, FakeMotor, FakeBot, DynamixelAX12FtdiDriver, ControlBoardWrapper, and ControlBoardRemapper.
|
pure virtual |
Read the position of all axes.
encs | pointer to the array that will contain the output |
Implemented in yarp::dev::ImplementEncodersTimed, yarp::dev::ImplementEncoders, RemoteControlBoard, FakeMotor, FakeBot, DynamixelAX12FtdiDriver, ControlBoardWrapper, and ControlBoardRemapper.
|
pure virtual |
Read the istantaneous speed of an axis.
j | axis number |
sp | pointer to storage for the output |
Implemented in yarp::dev::ImplementEncodersTimed, yarp::dev::ImplementEncoders, RemoteControlBoard, FakeMotor, FakeBot, DynamixelAX12FtdiDriver, ControlBoardWrapper, and ControlBoardRemapper.
|
pure virtual |
Read the instantaneous speed of all axes.
spds | pointer to storage for the output values |
Implemented in yarp::dev::ImplementEncodersTimed, yarp::dev::ImplementEncoders, RemoteControlBoard, FakeMotor, FakeBot, DynamixelAX12FtdiDriver, ControlBoardWrapper, and ControlBoardRemapper.
|
pure virtual |
Reset encoder, single joint.
Set the encoder value to zero
j | encoder number |
Implemented in yarp::dev::ImplementEncodersTimed, yarp::dev::ImplementEncoders, RemoteControlBoard, FakeMotor, FakeBot, DynamixelAX12FtdiDriver, ControlBoardWrapper, and ControlBoardRemapper.
|
pure virtual |
Reset encoders.
Set the encoders value to zero
Implemented in yarp::dev::ImplementEncodersTimed, yarp::dev::ImplementEncoders, RemoteControlBoard, FakeMotor, FakeBot, DynamixelAX12FtdiDriver, ControlBoardWrapper, and ControlBoardRemapper.
|
pure virtual |
Set the value of the encoder for a given joint.
j | encoder number |
val | new value |
Implemented in yarp::dev::ImplementEncodersTimed, yarp::dev::ImplementEncoders, RemoteControlBoard, FakeMotor, FakeBot, DynamixelAX12FtdiDriver, ControlBoardWrapper, and ControlBoardRemapper.
|
pure virtual |
Set the value of all encoders.
vals | pointer to the new values |
Implemented in yarp::dev::ImplementEncodersTimed, yarp::dev::ImplementEncoders, RemoteControlBoard, FakeMotor, FakeBot, DynamixelAX12FtdiDriver, ControlBoardWrapper, and ControlBoardRemapper.