YARP
Yet Another Robot Platform
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/ControlBoardHelpers.h>
34 
35 #include "stateExtendedReader.h"
36 
37 struct ProtocolVersion
38 {
39  int major{0};
40  int minor{0};
41  int tweak{0};
42 };
43 
44 class DiagnosticThread;
45 
46 
64 class RemoteControlBoard :
65  public yarp::dev::IPidControl,
66  public yarp::dev::IPositionControl,
67  public yarp::dev::IVelocityControl,
68  public yarp::dev::IEncodersTimed,
69  public yarp::dev::IMotorEncoders,
70  public yarp::dev::IMotor,
71  public yarp::dev::IAmplifierControl,
72  public yarp::dev::IControlLimits,
73  public yarp::dev::IAxisInfo,
74  public yarp::dev::IPreciselyTimed,
75  public yarp::dev::IControlCalibration,
76  public yarp::dev::ITorqueControl,
77  public yarp::dev::IImpedanceControl,
78  public yarp::dev::IControlMode,
79  public yarp::dev::DeviceDriver,
80  public yarp::dev::IPositionDirect,
81  public yarp::dev::IInteractionMode,
82  public yarp::dev::IRemoteCalibrator,
83  public yarp::dev::IRemoteVariables,
84  public yarp::dev::IPWMControl,
85  public yarp::dev::ICurrentControl
86 {
87 protected:
88  yarp::os::Port rpc_p;
89  yarp::os::Port command_p;
90  DiagnosticThread *diagnosticThread{nullptr};
91 
92  yarp::os::PortReaderBuffer<yarp::sig::Vector> state_buffer;
93  yarp::os::PortWriterBuffer<CommandMessage> command_buffer;
94  bool writeStrict_singleJoint{true};
95  bool writeStrict_moreJoints{false};
96 
97  // Buffer associated to the extendedOutputStatePort port; in this case we will use the type generated
98  // from the YARP .thrift file
99 // yarp::os::PortReaderBuffer<jointData> extendedInputState_buffer; // Buffer storing new data
100  StateExtendedInputPort extendedIntputStatePort; // Buffered port storing new data
101  std::mutex extendedPortMutex;
102  yarp::dev::impl::jointData last_singleJoint; // tmp to store last received data for a particular joint
103 // yarp::os::Port extendedIntputStatePort; // Port /stateExt:i reading the state of the joints
104  yarp::dev::impl::jointData last_wholePart; // tmp to store last received data for whole part
105 
106  std::string remote;
107  std::string local;
108  mutable Stamp lastStamp; //this is shared among all calls that read encoders
109  size_t nj{0};
110  bool njIsKnown{false};
111 
112  ProtocolVersion protocolVersion;
113 
114  // Check for number of joints, if needed.
115  // This is to allow for delayed connection to the remote control board.
116  bool isLive();
117 
118  bool checkProtocolVersion(bool ignore);
119 
120  bool send1V(int v);
121  bool send2V(int v1, int v2);
122  bool send2V1I(int v1, int v2, int axis);
123  bool send1V1I(int v, int axis);
124  bool send3V1I(int v1, int v2, int v3, int j);
125 
131  bool set1V(int code);
132 
140  bool set1V2D(int code, double v);
141 
149  bool set1V1I(int code, int v);
150 
157  bool get1V1D(int code, double& v) const;
158 
165  bool get1V1I(int code, int& v) const;
166 
174  bool set1V1I1D(int code, int j, double val);
175 
176  bool set1V1I2D(int code, int j, double val1, double val2);
177 
184  bool set1VDA(int v, const double *val);
185  bool set2V1DA(int v1, int v2, const double *val);
186  bool set2V2DA(int v1, int v2, const double *val1, const double *val2);
187  bool set1V1I1IA1DA(int v, const int len, const int *val1, const double *val2);
188  bool set2V1I1D(int v1, int v2, int axis, double val);
189  bool setValWithPidType(int voc, PidControlTypeEnum type, int axis, double val);
190  bool setValWithPidType(int voc, PidControlTypeEnum type, const double* val_arr);
191  bool getValWithPidType(int voc, PidControlTypeEnum type, int j, double *val);
192  bool getValWithPidType(int voc, PidControlTypeEnum type, double *val);
193  bool set2V1I(int v1, int v2, int axis);
194 
202  bool get1V1I1D(int v, int j, double *val);
203 
211  bool get1V1I1I(int v, int j, int *val);
212  bool get2V1I1D(int v1, int v2, int j, double *val);
213  bool get2V1I2D(int v1, int v2, int j, double *val1, double *val2);
214  bool get1V1I2D(int code, int axis, double *v1, double *v2);
215 
223  bool get1V1I1B(int v, int j, bool &val);
224  bool get1V1I1IA1B(int v, const int len, const int *val1, bool &retVal);
225  bool get2V1I1IA1DA(int v1, int v2, const int n_joints, const int *joints, double *retVals, std::string functionName = "");
226  bool get1V1B(int v, bool &val);
227 
234  bool get1VIA(int v, int *val);
235 
242  bool get1VDA(int v, double *val);
243 
250  bool get1V1DA(int v1, double *val);
251 
259  bool get2V1DA(int v1, int v2, double *val);
260 
261  bool get2V2DA(int v1, int v2, double *val1, double *val2);
262 
263  bool get1V1I1S(int code, int j, std::string &name);
264 
265  bool get1V1I1IA1DA(int v, const int len, const int *val1, double *val2);
266 
267 public:
268  RemoteControlBoard() = default;
269  RemoteControlBoard(const RemoteControlBoard&) = delete;
270  RemoteControlBoard(RemoteControlBoard&&) = delete;
271  RemoteControlBoard& operator=(const RemoteControlBoard&) = delete;
272  RemoteControlBoard& operator=(RemoteControlBoard&&) = delete;
273  ~RemoteControlBoard() override = default;
274 
275  bool open(Searchable& config) override;
276 
281  bool close() override;
282 
283  bool getAxes(int *ax) override;
284 
285  // IPidControl
286  bool setPid(const PidControlTypeEnum& pidtype, int j, const Pid &pid) override;
287  bool setPids(const PidControlTypeEnum& pidtype, const Pid *pids) override;
288  bool setPidReference(const PidControlTypeEnum& pidtype, int j, double ref) override;
289  bool setPidReferences(const PidControlTypeEnum& pidtype, const double *refs) override;
290  bool setPidErrorLimit(const PidControlTypeEnum& pidtype, int j, double limit) override;
291  bool setPidErrorLimits(const PidControlTypeEnum& pidtype, const double *limits) override;
292  bool getPidError(const PidControlTypeEnum& pidtype, int j, double *err) override;
293  bool getPidErrors(const PidControlTypeEnum& pidtype, double *errs) override;
294  bool getPid(const PidControlTypeEnum& pidtype, int j, Pid *pid) override;
295  bool getPids(const PidControlTypeEnum& pidtype, Pid *pids) override;
296  bool getPidReference(const PidControlTypeEnum& pidtype, int j, double *ref) override;
297  bool getPidReferences(const PidControlTypeEnum& pidtype, double *refs) override;
298  bool getPidErrorLimit(const PidControlTypeEnum& pidtype, int j, double *limit) override;
299  bool getPidErrorLimits(const PidControlTypeEnum& pidtype, double *limits) override;
300  bool resetPid(const PidControlTypeEnum& pidtype, int j) override;
301  bool disablePid(const PidControlTypeEnum& pidtype, int j) override;
302  bool enablePid(const PidControlTypeEnum& pidtype, int j) override;
303  bool isPidEnabled(const PidControlTypeEnum& pidtype, int j, bool* enabled) override;
304  bool getPidOutput(const PidControlTypeEnum& pidtype, int j, double *out) override;
305  bool getPidOutputs(const PidControlTypeEnum& pidtype, double *outs) override;
306  bool setPidOffset(const PidControlTypeEnum& pidtype, int j, double v) override;
307 
308  // IEncoder
309  bool resetEncoder(int j) override;
310  bool resetEncoders() override;
311  bool setEncoder(int j, double val) override;
312  bool setEncoders(const double *vals) override;
313  bool getEncoder(int j, double *v) override;
314  bool getEncoderTimed(int j, double *v, double *t) override;
315  bool getEncoders(double *encs) override;
316  bool getEncodersTimed(double *encs, double *ts) override;
317  bool getEncoderSpeed(int j, double *sp) override;
318  bool getEncoderSpeeds(double *spds) override;
319  bool getEncoderAcceleration(int j, double *acc) override;
320  bool getEncoderAccelerations(double *accs) override;
321 
322  // IRemoteVariable
323  bool getRemoteVariable(std::string key, yarp::os::Bottle& val) override;
324  bool setRemoteVariable(std::string key, const yarp::os::Bottle& val) override;
325  bool getRemoteVariablesList(yarp::os::Bottle* listOfKeys) override;
326 
327  // IMotor
328  bool getNumberOfMotors(int *num) override;
329  bool getTemperature(int m, double* val) override;
330  bool getTemperatures(double *vals) override;
331  bool getTemperatureLimit (int m, double* val) override;
332  bool setTemperatureLimit (int m, const double val) override;
333  bool getGearboxRatio(int m, double* val) override;
334  bool setGearboxRatio(int m, const double val) override;
335 
336  // IMotorEncoder
337  bool resetMotorEncoder(int j) override;
338  bool resetMotorEncoders() override;
339  bool setMotorEncoder(int j, const double val) override;
340  bool setMotorEncoderCountsPerRevolution(int m, const double cpr) override;
341  bool getMotorEncoderCountsPerRevolution(int m, double *cpr) override;
342  bool setMotorEncoders(const double *vals) override;
343  bool getMotorEncoder(int j, double *v) override;
344  bool getMotorEncoderTimed(int j, double *v, double *t) override;
345  bool getMotorEncoders(double *encs) override;
346  bool getMotorEncodersTimed(double *encs, double *ts) override;
347  bool getMotorEncoderSpeed(int j, double *sp) override;
348  bool getMotorEncoderSpeeds(double *spds) override;
349  bool getMotorEncoderAcceleration(int j, double *acc) override;
350  bool getMotorEncoderAccelerations(double *accs) override;
351  bool getNumberOfMotorEncoders(int *num) override;
352 
353  // IPreciselyTimed
354  Stamp getLastInputStamp() override;
355 
356  // IPositionControl
357  bool positionMove(int j, double ref) override;
358  bool positionMove(const int n_joint, const int *joints, const double *refs) override;
359  bool positionMove(const double *refs) override;
360  bool getTargetPosition(const int joint, double *ref) override;
361  bool getTargetPositions(double *refs) override;
362  bool getTargetPositions(const int n_joint, const int *joints, double *refs) override;
363  bool relativeMove(int j, double delta) override;
364  bool relativeMove(const int n_joint, const int *joints, const double *refs) override;
365  bool relativeMove(const double *deltas) override;
366  bool checkMotionDone(int j, bool *flag) override;
367  bool checkMotionDone(const int n_joint, const int *joints, bool *flag) override;
368  bool checkMotionDone(bool *flag) override;
369  bool setRefSpeed(int j, double sp) override;
370  bool setRefSpeeds(const int n_joint, const int *joints, const double *spds) override;
371  bool setRefSpeeds(const double *spds) override;
372  bool setRefAcceleration(int j, double acc) override;
373  bool setRefAccelerations(const int n_joint, const int *joints, const double *accs) override;
374  bool setRefAccelerations(const double *accs) override;
375  bool getRefSpeed(int j, double *ref) override;
376  bool getRefSpeeds(const int n_joint, const int *joints, double *spds) override;
377  bool getRefSpeeds(double *spds) override;
378  bool getRefAcceleration(int j, double *acc) override;
379  bool getRefAccelerations(const int n_joint, const int *joints, double *accs) override;
380  bool getRefAccelerations(double *accs) override;
381  bool stop(int j) override;
382  bool stop(const int len, const int *val1) override;
383  bool stop() override;
384 
385  // IVelocityControl
386  bool velocityMove(int j, double v) override;
387  bool velocityMove(const double *v) override;
388 
389  // IAmplifierControl
390  bool enableAmp(int j) override;
391  bool disableAmp(int j) override;
392  bool getAmpStatus(int *st) override;
393  bool getAmpStatus(int j, int *st) override;
394  bool setMaxCurrent(int j, double v) override;
395  bool getMaxCurrent(int j, double *v) override;
396  bool getNominalCurrent(int m, double *val) override;
397  bool setNominalCurrent(int m, const double val) override;
398  bool getPeakCurrent(int m, double *val) override;
399  bool setPeakCurrent(int m, const double val) override;
400  bool getPWM(int m, double* val) override;
401  bool getPWMLimit(int m, double* val) override;
402  bool setPWMLimit(int m, const double val) override;
403  bool getPowerSupplyVoltage(int m, double* val) override;
404 
405  // IControlLimits
406  bool setLimits(int axis, double min, double max) override;
407  bool getLimits(int axis, double *min, double *max) override;
408  bool setVelLimits(int axis, double min, double max) override;
409  bool getVelLimits(int axis, double *min, double *max) override;
410 
411  // IAxisInfo
412  bool getAxisName(int j, std::string& name) override;
413  bool getJointType(int j, yarp::dev::JointTypeEnum& type) override;
414 
415  // IControlCalibration
416  bool calibrateRobot() override;
417  bool abortCalibration() override;
418  bool abortPark() override;
419  bool park(bool wait=true) override;
420  bool calibrateAxisWithParams(int j, unsigned int ui, double v1, double v2, double v3) override;
421  bool setCalibrationParameters(int j, const CalibrationParameters& params) override;
422  bool calibrationDone(int j) override;
423 
424  // ITorqueControl
425  bool getRefTorque(int j, double *t) override;
426  bool getRefTorques(double *t) override;
427  bool setRefTorques(const double *t) override;
428  bool setRefTorque(int j, double v) override;
429  bool setRefTorques(const int n_joint, const int *joints, const double *t) override;
430  bool setMotorTorqueParams(int j, const MotorTorqueParameters params) override;
431  bool getMotorTorqueParams(int j, MotorTorqueParameters *params) override;
432  bool getTorque(int j, double *t) override;
433  bool getTorques(double *t) override;
434  bool getTorqueRange(int j, double *min, double* max) override;
435  bool getTorqueRanges(double *min, double *max) override;
436 
437  // IImpedanceControl
438  bool getImpedance(int j, double *stiffness, double *damping) override;
439  bool getImpedanceOffset(int j, double *offset) override;
440  bool setImpedance(int j, double stiffness, double damping) override;
441  bool setImpedanceOffset(int j, double offset) override;
442  bool getCurrentImpedanceLimit(int j, double *min_stiff, double *max_stiff, double *min_damp, double *max_damp) override;
443 
444  // IControlMode
445  bool getControlMode(int j, int *mode) override;
446  bool getControlModes(int *modes) override;
447  bool getControlModes(const int n_joint, const int *joints, int *modes) override;
448  bool setControlMode(const int j, const int mode) override;
449  bool setControlModes(const int n_joint, const int *joints, int *modes) override;
450  bool setControlModes(int *modes) override;
451 
452  // IPositionDirect
453  bool setPosition(int j, double ref) override;
454  bool setPositions(const int n_joint, const int *joints, const double *refs) override;
455  bool setPositions(const double *refs) override;
456  bool getRefPosition(const int joint, double* ref) override;
457  bool getRefPositions(double* refs) override;
458  bool getRefPositions(const int n_joint, const int* joints, double* refs) override;
459 
460  // IVelocityControl
461  bool velocityMove(const int n_joint, const int *joints, const double *spds) override;
462  bool getRefVelocity(const int joint, double* vel) override;
463  bool getRefVelocities(double* vels) override;
464  bool getRefVelocities(const int n_joint, const int* joints, double* vels) override;
465 
466  // IInteractionMode
467  bool getInteractionMode(int axis, yarp::dev::InteractionModeEnum* mode) override;
468  bool getInteractionModes(int n_joints, int *joints, yarp::dev::InteractionModeEnum* modes) override;
469  bool getInteractionModes(yarp::dev::InteractionModeEnum* modes) override;
470  bool setInteractionMode(int axis, yarp::dev::InteractionModeEnum mode) override;
471  bool setInteractionModes(int n_joints, int *joints, yarp::dev::InteractionModeEnum* modes) override;
472  bool setInteractionModes(yarp::dev::InteractionModeEnum* modes) override;
473 
474  // IRemoteCalibrator
475  bool isCalibratorDevicePresent(bool *isCalib) override;
476  bool calibrateSingleJoint(int j) override;
477  bool calibrateWholePart() override;
478  bool homingSingleJoint(int j) override;
479  bool homingWholePart() override;
480  bool parkSingleJoint(int j, bool _wait=true) override;
481  bool parkWholePart() override;
482  bool quitCalibrate() override;
483  bool quitPark() override;
484 
485  // ICurrentControl
486  bool getRefCurrents(double *t) override;
487  bool getRefCurrent(int j, double *t) override;
488  bool setRefCurrents(const double *refs) override;
489  bool setRefCurrent(int j, double ref) override;
490  bool setRefCurrents(const int n_joint, const int *joints, const double *refs) override;
491  bool getCurrents(double *vals) override;
492  bool getCurrent(int j, double *val) override;
493  bool getCurrentRange(int j, double *min, double *max) override;
494  bool getCurrentRanges(double *min, double *max) override;
495 
496  // IPWMControl
497  bool setRefDutyCycle(int j, double v) override;
498  bool setRefDutyCycles(const double *v) override;
499  bool getRefDutyCycle(int j, double *ref) override;
500  bool getRefDutyCycles(double *refs) override;
501  bool getDutyCycle(int j, double *out) override;
502  bool getDutyCycles(double *outs) override;
503 };
504 
505 
506 
507 #endif // YARP_DEV_REMOTECONTROLBOARD_REMOTECONTROLBOARD_H
t
float t
Definition: FfmpegWriter.cpp:71
IAmplifierControl.h
define control board standard interfaces
IAxisInfo.h
define control board standard interfaces
IControlLimits.h
define control board standard interfaces
Vector.h
contains the definition of a Vector type
RemoteControlBoard
remote_controlboard: The client side of the control board, connects to a remote controlboard using th...
Definition: RemoteControlBoard.h:86
RemoteControlBoard::setPidReferences
bool setPidReferences(const PidControlTypeEnum &pidtype, const double *refs) override
Set the controller reference, multiple axes.
Definition: RemoteControlBoard.cpp:1209
RemoteControlBoard::getTorques
bool getTorques(double *t) override
Get the value of the torque for all joints (this is the feedback if you have torque sensors).
Definition: RemoteControlBoard.cpp:2231
RemoteControlBoard::relativeMove
bool relativeMove(int j, double delta) override
Set relative position.
Definition: RemoteControlBoard.cpp:1767
RemoteControlBoard::getCurrentImpedanceLimit
bool getCurrentImpedanceLimit(int j, double *min_stiff, double *max_stiff, double *min_damp, double *max_damp) override
Get the current impedandance limits for a specific joint.
Definition: RemoteControlBoard.cpp:2326
RemoteControlBoard::getRefSpeeds
bool getRefSpeeds(const int n_joint, const int *joints, double *spds) override
Get reference speed of all joints.
Definition: RemoteControlBoard.cpp:1832
RemoteControlBoard::get1V1I1B
bool get1V1I1B(int v, int j, bool &val)
Helper method used to get a double value from the remote peer.
Definition: RemoteControlBoard.cpp:842
RemoteControlBoard::quitCalibrate
bool quitCalibrate() override
quitCalibrate: interrupt the calibration procedure
Definition: RemoteControlBoard.cpp:2725
RemoteControlBoard::getRefPositions
bool getRefPositions(double *refs) override
Get the last position reference for all axes.
Definition: RemoteControlBoard.cpp:2507
RemoteControlBoard::operator=
RemoteControlBoard & operator=(RemoteControlBoard &&)=delete
RemoteControlBoard::state_buffer
yarp::os::PortReaderBuffer< yarp::sig::Vector > state_buffer
Definition: RemoteControlBoard.h:92
RemoteControlBoard::get1V1I1IA1B
bool get1V1I1IA1B(int v, const int len, const int *val1, bool &retVal)
Definition: RemoteControlBoard.cpp:857
RemoteControlBoard::open
bool open(Searchable &config) override
Open the DeviceDriver.
Definition: RemoteControlBoard.cpp:179
RemoteControlBoard::getEncoder
bool getEncoder(int j, double *v) override
Read the value of an encoder.
Definition: RemoteControlBoard.cpp:1426
RemoteControlBoard::send2V1I
bool send2V1I(int v1, int v2, int axis)
Definition: RemoteControlBoard.cpp:435
RemoteControlBoard::setPositions
bool setPositions(const int n_joint, const int *joints, const double *refs) override
Set new reference point for all axes.
Definition: RemoteControlBoard.cpp:2469
RemoteControlBoard::last_wholePart
yarp::dev::impl::jointData last_wholePart
Definition: RemoteControlBoard.h:104
RemoteControlBoard::rpc_p
yarp::os::Port rpc_p
Definition: RemoteControlBoard.h:88
RemoteControlBoard::setControlMode
bool setControlMode(const int j, const int mode) override
Set the current control mode.
Definition: RemoteControlBoard.cpp:2390
RemoteControlBoard::isPidEnabled
bool isPidEnabled(const PidControlTypeEnum &pidtype, int j, bool *enabled) override
Get the current status (enabled/disabled) of the pid.
Definition: RemoteControlBoard.cpp:1370
RemoteControlBoard::~RemoteControlBoard
~RemoteControlBoard() override=default
RemoteControlBoard::getPeakCurrent
bool getPeakCurrent(int m, double *val) override
Definition: RemoteControlBoard.cpp:1964
RemoteControlBoard::getLimits
bool getLimits(int axis, double *min, double *max) override
Get the software limits for a particular axis.
Definition: RemoteControlBoard.cpp:2007
RemoteControlBoard::RemoteControlBoard
RemoteControlBoard(const RemoteControlBoard &)=delete
RemoteControlBoard::getPWM
bool getPWM(int m, double *val) override
Definition: RemoteControlBoard.cpp:1974
RemoteControlBoard::command_buffer
yarp::os::PortWriterBuffer< CommandMessage > command_buffer
Definition: RemoteControlBoard.h:93
RemoteControlBoard::get1VDA
bool get1VDA(int v, double *val)
Helper method to get an array of double from the remote peer.
Definition: RemoteControlBoard.cpp:965
RemoteControlBoard::set2V1DA
bool set2V1DA(int v1, int v2, const double *val)
Definition: RemoteControlBoard.cpp:588
RemoteControlBoard::get1V1I
bool get1V1I(int code, int &v) const
Send a GET command expecting an integer value in return.
Definition: RemoteControlBoard.cpp:528
RemoteControlBoard::getNominalCurrent
bool getNominalCurrent(int m, double *val) override
Definition: RemoteControlBoard.cpp:1954
RemoteControlBoard::resetPid
bool resetPid(const PidControlTypeEnum &pidtype, int j) override
Reset the controller of a given joint, usually sets the current status of the joint as the reference ...
Definition: RemoteControlBoard.cpp:1325
RemoteControlBoard::setPeakCurrent
bool setPeakCurrent(int m, const double val) override
Definition: RemoteControlBoard.cpp:1969
RemoteControlBoard::getPidOutputs
bool getPidOutputs(const PidControlTypeEnum &pidtype, double *outs) override
Get the output of the controllers (e.g.
Definition: RemoteControlBoard.cpp:1392
RemoteControlBoard::send2V
bool send2V(int v1, int v2)
Definition: RemoteControlBoard.cpp:423
RemoteControlBoard::set1V1I
bool set1V1I(int code, int v)
Send a SET command with an additional integer valued variable and then wait for a reply.
Definition: RemoteControlBoard.cpp:496
RemoteControlBoard::setInteractionMode
bool setInteractionMode(int axis, yarp::dev::InteractionModeEnum mode) override
Set the interaction mode of the robot, values can be stiff or compliant.
Definition: RemoteControlBoard.cpp:2597
RemoteControlBoard::getTemperatureLimit
bool getTemperatureLimit(int m, double *val) override
Retreives the current temperature limit for a specific motor.
Definition: RemoteControlBoard.cpp:1578
RemoteControlBoard::getPidError
bool getPidError(const PidControlTypeEnum &pidtype, int j, double *err) override
Get the current error for a joint.
Definition: RemoteControlBoard.cpp:1224
RemoteControlBoard::getPidReference
bool getPidReference(const PidControlTypeEnum &pidtype, int j, double *ref) override
Get the current reference of the pid controller for a specific joint.
Definition: RemoteControlBoard.cpp:1305
RemoteControlBoard::homingSingleJoint
bool homingSingleJoint(int j) override
homingSingleJoint: call the homing procedure for a single joint
Definition: RemoteControlBoard.cpp:2694
RemoteControlBoard::checkMotionDone
bool checkMotionDone(int j, bool *flag) override
Check if the current trajectory is terminated.
Definition: RemoteControlBoard.cpp:1782
RemoteControlBoard::getMotorEncoderCountsPerRevolution
bool getMotorEncoderCountsPerRevolution(int m, double *cpr) override
Gets number of counts per revolution for motor encoder m.
Definition: RemoteControlBoard.cpp:1622
RemoteControlBoard::setMotorEncoderCountsPerRevolution
bool setMotorEncoderCountsPerRevolution(int m, const double cpr) override
Sets number of counts per revolution for motor encoder m.
Definition: RemoteControlBoard.cpp:1617
RemoteControlBoard::protocolVersion
ProtocolVersion protocolVersion
Definition: RemoteControlBoard.h:112
RemoteControlBoard::set2V1I
bool set2V1I(int v1, int v2, int axis)
Definition: RemoteControlBoard.cpp:741
RemoteControlBoard::setRefDutyCycle
bool setRefDutyCycle(int j, double v) override
Sets the reference dutycycle to a single motor.
Definition: RemoteControlBoard.cpp:2841
RemoteControlBoard::getRefAccelerations
bool getRefAccelerations(const int n_joint, const int *joints, double *accs) override
Get reference acceleration for a joint.
Definition: RemoteControlBoard.cpp:1847
RemoteControlBoard::setPidErrorLimit
bool setPidErrorLimit(const PidControlTypeEnum &pidtype, int j, double limit) override
Set the error limit for the controller on a specifi joint.
Definition: RemoteControlBoard.cpp:1214
RemoteControlBoard::setMaxCurrent
bool setMaxCurrent(int j, double v) override
Definition: RemoteControlBoard.cpp:1944
RemoteControlBoard::getPowerSupplyVoltage
bool getPowerSupplyVoltage(int m, double *val) override
Definition: RemoteControlBoard.cpp:1993
RemoteControlBoard::getRefVelocity
bool getRefVelocity(const int joint, double *vel) override
Get the last reference speed set by velocityMove for single joint.
Definition: RemoteControlBoard.cpp:2541
RemoteControlBoard::getPidOutput
bool getPidOutput(const PidControlTypeEnum &pidtype, int j, double *out) override
Get the output of the controller (e.g.
Definition: RemoteControlBoard.cpp:1387
RemoteControlBoard::get1V1I1IA1DA
bool get1V1I1IA1DA(int v, const int len, const int *val1, double *val2)
Definition: RemoteControlBoard.cpp:1103
RemoteControlBoard::get1V1DA
bool get1V1DA(int v1, double *val)
Helper method to get an array of double from the remote peer.
Definition: RemoteControlBoard.cpp:992
RemoteControlBoard::setRefSpeed
bool setRefSpeed(int j, double sp) override
Set reference speed for a joint, this is the speed used during the interpolation of the trajectory.
Definition: RemoteControlBoard.cpp:1797
RemoteControlBoard::setInteractionModes
bool setInteractionModes(int n_joints, int *joints, yarp::dev::InteractionModeEnum *modes) override
Set the interaction mode of the robot for a set of joints, values can be stiff or compliant.
Definition: RemoteControlBoard.cpp:2614
RemoteControlBoard::getRefCurrent
bool getRefCurrent(int j, double *t) override
Get the reference value of the current for a single motor.
Definition: RemoteControlBoard.cpp:2754
RemoteControlBoard::getEncoders
bool getEncoders(double *encs) override
Read the position of all axes.
Definition: RemoteControlBoard.cpp:1447
RemoteControlBoard::get1V1I1S
bool get1V1I1S(int code, int j, std::string &name)
Definition: RemoteControlBoard.cpp:1087
RemoteControlBoard::set1V
bool set1V(int code)
Send a SET command without parameters and wait for a reply.
Definition: RemoteControlBoard.cpp:474
RemoteControlBoard::getLastInputStamp
Stamp getLastInputStamp() override
Get the time stamp for the last read data.
Definition: RemoteControlBoard.cpp:1724
RemoteControlBoard::getMotorEncoder
bool getMotorEncoder(int j, double *v) override
Read the value of a motor encoder.
Definition: RemoteControlBoard.cpp:1632
RemoteControlBoard::getTemperature
bool getTemperature(int m, double *val) override
Get temperature of a motor.
Definition: RemoteControlBoard.cpp:1568
RemoteControlBoard::setPidReference
bool setPidReference(const PidControlTypeEnum &pidtype, int j, double ref) override
Set the controller reference for a given axis.
Definition: RemoteControlBoard.cpp:1204
RemoteControlBoard::setImpedance
bool setImpedance(int j, double stiffness, double damping) override
Set current impedance gains (stiffness,damping) for a specific joint.
Definition: RemoteControlBoard.cpp:2295
RemoteControlBoard::getMotorEncoderTimed
bool getMotorEncoderTimed(int j, double *v, double *t) override
Read the instantaneous position of a motor encoder.
Definition: RemoteControlBoard.cpp:1642
RemoteControlBoard::getDutyCycles
bool getDutyCycles(double *outs) override
Gets the current dutycycle of the output of the amplifier (i.e.
Definition: RemoteControlBoard.cpp:2918
RemoteControlBoard::setRefCurrent
bool setRefCurrent(int j, double ref) override
Set the reference value of the current for a single motor.
Definition: RemoteControlBoard.cpp:2774
RemoteControlBoard::diagnosticThread
DiagnosticThread * diagnosticThread
Definition: RemoteControlBoard.h:90
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:2406
RemoteControlBoard::setPid
bool setPid(const PidControlTypeEnum &pidtype, int j, const Pid &pid) override
Set new pid value for a joint axis.
Definition: RemoteControlBoard.cpp:1152
RemoteControlBoard::set1V1I2D
bool set1V1I2D(int code, int j, double val1, double val2)
Definition: RemoteControlBoard.cpp:559
RemoteControlBoard::getPidErrors
bool getPidErrors(const PidControlTypeEnum &pidtype, double *errs) override
Get the error of all joints.
Definition: RemoteControlBoard.cpp:1229
RemoteControlBoard::close
bool close() override
Close the device driver and stop the port connections.
Definition: RemoteControlBoard.cpp:392
RemoteControlBoard::parkSingleJoint
bool parkSingleJoint(int j, bool _wait=true) override
parkSingleJoint(): start the parking procedure for the single joint
Definition: RemoteControlBoard.cpp:2710
RemoteControlBoard::setMotorEncoders
bool setMotorEncoders(const double *vals) override
Set the value of all motor encoders.
Definition: RemoteControlBoard.cpp:1627
RemoteControlBoard::last_singleJoint
yarp::dev::impl::jointData last_singleJoint
Definition: RemoteControlBoard.h:102
RemoteControlBoard::getTargetPositions
bool getTargetPositions(double *refs) override
Get the last position reference for all axes.
Definition: RemoteControlBoard.cpp:1757
RemoteControlBoard::RemoteControlBoard
RemoteControlBoard(RemoteControlBoard &&)=delete
RemoteControlBoard::setEncoders
bool setEncoders(const double *vals) override
Set the value of all encoders.
Definition: RemoteControlBoard.cpp:1421
RemoteControlBoard::set1VDA
bool set1VDA(int v, const double *val)
Helper method used to set an array of double to all axes.
Definition: RemoteControlBoard.cpp:572
RemoteControlBoard::getPid
bool getPid(const PidControlTypeEnum &pidtype, int j, Pid *pid) override
Get current pid value for a specific joint.
Definition: RemoteControlBoard.cpp:1234
RemoteControlBoard::setPosition
bool setPosition(int j, double ref) override
Set new position for a single axis.
Definition: RemoteControlBoard.cpp:2454
RemoteControlBoard::get2V1I2D
bool get2V1I2D(int v1, int v2, int j, double *val1, double *val2)
Definition: RemoteControlBoard.cpp:806
RemoteControlBoard::getJointType
bool getJointType(int j, yarp::dev::JointTypeEnum &type) override
Definition: RemoteControlBoard.cpp:2031
RemoteControlBoard::resetMotorEncoder
bool resetMotorEncoder(int j) override
Reset motor encoder, single motor.
Definition: RemoteControlBoard.cpp:1602
RemoteControlBoard::getEncoderSpeed
bool getEncoderSpeed(int j, double *sp) override
Read the istantaneous speed of an axis.
Definition: RemoteControlBoard.cpp:1469
RemoteControlBoard::setGearboxRatio
bool setGearboxRatio(int m, const double val) override
Set the gearbox ratio for a specific motor.
Definition: RemoteControlBoard.cpp:1593
RemoteControlBoard::resetMotorEncoders
bool resetMotorEncoders() override
Reset motor encoders.
Definition: RemoteControlBoard.cpp:1607
RemoteControlBoard::getCurrentRanges
bool getCurrentRanges(double *min, double *max) override
Get the full scale of the current measurements for all motors motor (e.g.
Definition: RemoteControlBoard.cpp:2833
RemoteControlBoard::getAmpStatus
bool getAmpStatus(int *st) override
Definition: RemoteControlBoard.cpp:1934
RemoteControlBoard::setRefTorque
bool setRefTorque(int j, double v) override
Set the reference value of the torque for a given joint.
Definition: RemoteControlBoard.cpp:2136
RemoteControlBoard::enablePid
bool enablePid(const PidControlTypeEnum &pidtype, int j) override
Enable the pid computation for a joint.
Definition: RemoteControlBoard.cpp:1355
RemoteControlBoard::calibrateWholePart
bool calibrateWholePart() override
calibrateWholePart: call the procedure for calibrating the whole device
Definition: RemoteControlBoard.cpp:2684
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:2254
RemoteControlBoard::getPidErrorLimits
bool getPidErrorLimits(const PidControlTypeEnum &pidtype, double *limits) override
Get the error limit for all controllers.
Definition: RemoteControlBoard.cpp:1320
RemoteControlBoard::getMotorEncoders
bool getMotorEncoders(double *encs) override
Read the position of all motor encoders.
Definition: RemoteControlBoard.cpp:1653
RemoteControlBoard::setPids
bool setPids(const PidControlTypeEnum &pidtype, const Pid *pids) override
Set new pid value on multiple axes.
Definition: RemoteControlBoard.cpp:1175
RemoteControlBoard::setMotorEncoder
bool setMotorEncoder(int j, const double val) override
Set the value of the motor encoder for a given motor.
Definition: RemoteControlBoard.cpp:1612
RemoteControlBoard::velocityMove
bool velocityMove(int j, double v) override
Start motion at a given speed, single joint.
Definition: RemoteControlBoard.cpp:1890
RemoteControlBoard::setRemoteVariable
bool setRemoteVariable(std::string key, const yarp::os::Bottle &val) override
Definition: RemoteControlBoard.cpp:1527
RemoteControlBoard::setPidErrorLimits
bool setPidErrorLimits(const PidControlTypeEnum &pidtype, const double *limits) override
Get the error limit for the controller on all joints.
Definition: RemoteControlBoard.cpp:1219
RemoteControlBoard::RemoteControlBoard
RemoteControlBoard()=default
RemoteControlBoard::calibrationDone
bool calibrationDone(int j) override
Check if the calibration is terminated, on a particular joint.
Definition: RemoteControlBoard.cpp:2098
RemoteControlBoard::setPidOffset
bool setPidOffset(const PidControlTypeEnum &pidtype, int j, double v) override
Set offset value for a given controller.
Definition: RemoteControlBoard.cpp:1397
RemoteControlBoard::get2V1I1D
bool get2V1I1D(int v1, int v2, int j, double *val)
Definition: RemoteControlBoard.cpp:787
RemoteControlBoard::abortCalibration
bool abortCalibration() override
Definition: RemoteControlBoard.cpp:2044
RemoteControlBoard::setRefCurrents
bool setRefCurrents(const double *refs) override
Set the reference value of the currents for all motors.
Definition: RemoteControlBoard.cpp:2759
RemoteControlBoard::getMotorEncoderAcceleration
bool getMotorEncoderAcceleration(int j, double *acc) override
Read the instantaneous acceleration of a motor encoder.
Definition: RemoteControlBoard.cpp:1693
RemoteControlBoard::setRefTorques
bool setRefTorques(const double *t) override
Set the reference value of the torque for all joints.
Definition: RemoteControlBoard.cpp:2117
RemoteControlBoard::getNumberOfMotors
bool getNumberOfMotors(int *num) override
Retrieves the number of controlled axes from the current physical interface.
Definition: RemoteControlBoard.cpp:1563
RemoteControlBoard::getInteractionModes
bool getInteractionModes(int n_joints, int *joints, yarp::dev::InteractionModeEnum *modes) override
Get the current interaction mode of the robot for a set of joints, values can be stiff or compliant.
Definition: RemoteControlBoard.cpp:2569
RemoteControlBoard::get1VIA
bool get1VIA(int v, int *val)
Helper method to get an array of integers from the remote peer.
Definition: RemoteControlBoard.cpp:938
RemoteControlBoard::set1V1I1IA1DA
bool set1V1I1IA1DA(int v, const int len, const int *val1, const double *val2)
Definition: RemoteControlBoard.cpp:626
RemoteControlBoard::getInteractionMode
bool getInteractionMode(int axis, yarp::dev::InteractionModeEnum *mode) override
Get the current interaction mode of the robot, values can be stiff or compliant.
Definition: RemoteControlBoard.cpp:2560
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:2828
RemoteControlBoard::getEncoderAcceleration
bool getEncoderAcceleration(int j, double *acc) override
Read the instantaneous acceleration of an axis.
Definition: RemoteControlBoard.cpp:1489
RemoteControlBoard::get1V1B
bool get1V1B(int v, bool &val)
Definition: RemoteControlBoard.cpp:924
RemoteControlBoard::getVelLimits
bool getVelLimits(int axis, double *min, double *max) override
Get the software speed limits for a particular axis.
Definition: RemoteControlBoard.cpp:2017
RemoteControlBoard::setEncoder
bool setEncoder(int j, double val) override
Set the value of the encoder for a given joint.
Definition: RemoteControlBoard.cpp:1416
RemoteControlBoard::send1V1I
bool send1V1I(int v, int axis)
Definition: RemoteControlBoard.cpp:448
RemoteControlBoard::get1V1I2D
bool get1V1I2D(int code, int axis, double *v1, double *v2)
Definition: RemoteControlBoard.cpp:825
RemoteControlBoard::resetEncoders
bool resetEncoders() override
Reset encoders.
Definition: RemoteControlBoard.cpp:1411
RemoteControlBoard::checkProtocolVersion
bool checkProtocolVersion(bool ignore)
Definition: RemoteControlBoard.cpp:116
RemoteControlBoard::setImpedanceOffset
bool setImpedanceOffset(int j, double offset) override
Set current force Offset for a specific joint.
Definition: RemoteControlBoard.cpp:2311
RemoteControlBoard::get2V1I1IA1DA
bool get2V1I1IA1DA(int v1, int v2, const int n_joints, const int *joints, double *retVals, std::string functionName="")
Definition: RemoteControlBoard.cpp:878
RemoteControlBoard::getGearboxRatio
bool getGearboxRatio(int m, double *val) override
Get the gearbox ratio for a specific motor.
Definition: RemoteControlBoard.cpp:1588
RemoteControlBoard::getRefAcceleration
bool getRefAcceleration(int j, double *acc) override
Get reference acceleration for a joint.
Definition: RemoteControlBoard.cpp:1842
RemoteControlBoard::getMaxCurrent
bool getMaxCurrent(int j, double *v) override
Returns the maximum electric current allowed for a given motor.
Definition: RemoteControlBoard.cpp:1949
RemoteControlBoard::set2V2DA
bool set2V2DA(int v1, int v2, const double *val1, const double *val2)
Definition: RemoteControlBoard.cpp:605
RemoteControlBoard::get2V1DA
bool get2V1DA(int v1, int v2, double *val)
Helper method to get an array of double from the remote peer.
Definition: RemoteControlBoard.cpp:1019
RemoteControlBoard::setRefAccelerations
bool setRefAccelerations(const int n_joint, const int *joints, const double *accs) override
Set reference acceleration on all joints.
Definition: RemoteControlBoard.cpp:1817
RemoteControlBoard::setNominalCurrent
bool setNominalCurrent(int m, const double val) override
Definition: RemoteControlBoard.cpp:1959
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:2194
RemoteControlBoard::getRefTorques
bool getRefTorques(double *t) override
Get the reference value of the torque for all joints.
Definition: RemoteControlBoard.cpp:2112
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:2222
RemoteControlBoard::getRemoteVariable
bool getRemoteVariable(std::string key, yarp::os::Bottle &val) override
Definition: RemoteControlBoard.cpp:1511
RemoteControlBoard::getRefDutyCycles
bool getRefDutyCycles(double *refs) override
Gets the last reference sent using the setRefDutyCycles function.
Definition: RemoteControlBoard.cpp:2904
RemoteControlBoard::set1V2D
bool set1V2D(int code, double v)
Send a SET command and an additional double valued variable and then wait for a reply.
Definition: RemoteControlBoard.cpp:484
RemoteControlBoard::getRemoteVariablesList
bool getRemoteVariablesList(yarp::os::Bottle *listOfKeys) override
Definition: RemoteControlBoard.cpp:1542
RemoteControlBoard::getMotorEncoderSpeed
bool getMotorEncoderSpeed(int j, double *sp) override
Read the istantaneous speed of a motor encoder.
Definition: RemoteControlBoard.cpp:1675
RemoteControlBoard::getTemperatures
bool getTemperatures(double *vals) override
Get temperature of all the motors.
Definition: RemoteControlBoard.cpp:1573
RemoteControlBoard::get2V2DA
bool get2V2DA(int v1, int v2, double *val1, double *val2)
Definition: RemoteControlBoard.cpp:1047
RemoteControlBoard::operator=
RemoteControlBoard & operator=(const RemoteControlBoard &)=delete
RemoteControlBoard::get1V1D
bool get1V1D(int code, double &v) const
Send a GET command expecting a double value in return.
Definition: RemoteControlBoard.cpp:508
RemoteControlBoard::command_p
yarp::os::Port command_p
Definition: RemoteControlBoard.h:89
RemoteControlBoard::setRefSpeeds
bool setRefSpeeds(const int n_joint, const int *joints, const double *spds) override
Set reference speed on all joints.
Definition: RemoteControlBoard.cpp:1802
RemoteControlBoard::getControlMode
bool getControlMode(int j, int *mode) override
Get the current control mode.
Definition: RemoteControlBoard.cpp:2353
RemoteControlBoard::isCalibratorDevicePresent
bool isCalibratorDevicePresent(bool *isCalib) override
isCalibratorDevicePresent: check if a calibrator device has been set
Definition: RemoteControlBoard.cpp:2664
RemoteControlBoard::homingWholePart
bool homingWholePart() override
homingWholePart: call the homing procedure for a the whole part/device
Definition: RemoteControlBoard.cpp:2699
RemoteControlBoard::set2V1I1D
bool set2V1I1D(int v1, int v2, int axis, double val)
Definition: RemoteControlBoard.cpp:648
RemoteControlBoard::parkWholePart
bool parkWholePart() override
parkWholePart: start the parking procedure for the whole part
Definition: RemoteControlBoard.cpp:2715
RemoteControlBoard::calibrateRobot
bool calibrateRobot() override
Calibrate robot by using an external calibrator.
Definition: RemoteControlBoard.cpp:2039
RemoteControlBoard::getControlModes
bool getControlModes(int *modes) override
Get the current control mode (multiple joints).
Definition: RemoteControlBoard.cpp:2362
RemoteControlBoard::getMotorEncoderAccelerations
bool getMotorEncoderAccelerations(double *accs) override
Read the instantaneous acceleration of all motor encoders.
Definition: RemoteControlBoard.cpp:1702
RemoteControlBoard::resetEncoder
bool resetEncoder(int j) override
Reset encoder, single joint.
Definition: RemoteControlBoard.cpp:1406
RemoteControlBoard::getDutyCycle
bool getDutyCycle(int j, double *out) override
Gets the current dutycycle of the output of the amplifier (i.e.
Definition: RemoteControlBoard.cpp:2909
RemoteControlBoard::getTargetPosition
bool getTargetPosition(const int joint, double *ref) override
Get the last position reference for the specified axis.
Definition: RemoteControlBoard.cpp:1752
RemoteControlBoard::send3V1I
bool send3V1I(int v1, int v2, int v3, int j)
Definition: RemoteControlBoard.cpp:460
RemoteControlBoard::getRefVelocities
bool getRefVelocities(double *vels) override
Get the last reference speed set by velocityMove for all joints.
Definition: RemoteControlBoard.cpp:2546
RemoteControlBoard::getCurrent
bool getCurrent(int j, double *val) override
Definition: RemoteControlBoard.cpp:2819
RemoteControlBoard::getAxes
bool getAxes(int *ax) override
Get the number of controlled axes.
Definition: RemoteControlBoard.cpp:1145
RemoteControlBoard::extendedIntputStatePort
StateExtendedInputPort extendedIntputStatePort
Definition: RemoteControlBoard.h:100
RemoteControlBoard::getPidErrorLimit
bool getPidErrorLimit(const PidControlTypeEnum &pidtype, int j, double *limit) override
Get the error limit for the controller on a specific joint.
Definition: RemoteControlBoard.cpp:1315
RemoteControlBoard::stop
bool stop() override
Stop motion, multiple joints.
Definition: RemoteControlBoard.cpp:1881
RemoteControlBoard::setPWMLimit
bool setPWMLimit(int m, const double val) override
Definition: RemoteControlBoard.cpp:1988
RemoteControlBoard::getRefSpeed
bool getRefSpeed(int j, double *ref) override
Get reference speed for a joint.
Definition: RemoteControlBoard.cpp:1827
RemoteControlBoard::getRefPosition
bool getRefPosition(const int joint, double *ref) override
Get the last position reference for the specified axis.
Definition: RemoteControlBoard.cpp:2502
RemoteControlBoard::set1V1I1D
bool set1V1I1D(int code, int j, double val)
Helper method to set a double value to a single axis.
Definition: RemoteControlBoard.cpp:548
RemoteControlBoard::getEncoderTimed
bool getEncoderTimed(int j, double *v, double *t) override
Read the instantaneous acceleration of all axes.
Definition: RemoteControlBoard.cpp:1436
RemoteControlBoard::setCalibrationParameters
bool setCalibrationParameters(int j, const CalibrationParameters &params) override
Start calibration, this method is very often platform specific.
Definition: RemoteControlBoard.cpp:2078
RemoteControlBoard::getRefTorque
bool getRefTorque(int j, double *t) override
Get the reference value of the torque for a given joint.
Definition: RemoteControlBoard.cpp:2107
RemoteControlBoard::setTemperatureLimit
bool setTemperatureLimit(int m, const double val) override
Set the temperature limit for a specific motor.
Definition: RemoteControlBoard.cpp:1583
RemoteControlBoard::setValWithPidType
bool setValWithPidType(int voc, PidControlTypeEnum type, int axis, double val)
Definition: RemoteControlBoard.cpp:660
RemoteControlBoard::calibrateSingleJoint
bool calibrateSingleJoint(int j) override
calibrateSingleJoint: call the calibration procedure for the single joint
Definition: RemoteControlBoard.cpp:2679
RemoteControlBoard::enableAmp
bool enableAmp(int j) override
Enable the amplifier on a specific joint.
Definition: RemoteControlBoard.cpp:1924
RemoteControlBoard::getEncoderSpeeds
bool getEncoderSpeeds(double *spds) override
Read the instantaneous speed of all axes.
Definition: RemoteControlBoard.cpp:1479
RemoteControlBoard::getTorqueRanges
bool getTorqueRanges(double *min, double *max) override
Get the full scale of the torque sensors of all joints.
Definition: RemoteControlBoard.cpp:2245
RemoteControlBoard::park
bool park(bool wait=true) override
Definition: RemoteControlBoard.cpp:2054
RemoteControlBoard::setRefAcceleration
bool setRefAcceleration(int j, double acc) override
Set reference acceleration for a joint.
Definition: RemoteControlBoard.cpp:1812
RemoteControlBoard::getRefDutyCycle
bool getRefDutyCycle(int j, double *ref) override
Gets the last reference sent using the setRefDutyCycle function.
Definition: RemoteControlBoard.cpp:2881
RemoteControlBoard::getMotorEncodersTimed
bool getMotorEncodersTimed(double *encs, double *ts) override
Read the instantaneous position of all motor encoders.
Definition: RemoteControlBoard.cpp:1664
RemoteControlBoard::getImpedanceOffset
bool getImpedanceOffset(int j, double *offset) override
Get current force Offset for a specific joint.
Definition: RemoteControlBoard.cpp:2275
RemoteControlBoard::getValWithPidType
bool getValWithPidType(int voc, PidControlTypeEnum type, int j, double *val)
Definition: RemoteControlBoard.cpp:694
RemoteControlBoard::calibrateAxisWithParams
bool calibrateAxisWithParams(int j, unsigned int ui, double v1, double v2, double v3) override
Start calibration, this method is very often platform specific.
Definition: RemoteControlBoard.cpp:2059
RemoteControlBoard::getNumberOfMotorEncoders
bool getNumberOfMotorEncoders(int *num) override
Get the number of available motor encoders.
Definition: RemoteControlBoard.cpp:1711
RemoteControlBoard::disablePid
bool disablePid(const PidControlTypeEnum &pidtype, int j) override
Disable the pid computation for a joint.
Definition: RemoteControlBoard.cpp:1340
RemoteControlBoard::getMotorEncoderSpeeds
bool getMotorEncoderSpeeds(double *spds) override
Read the instantaneous speed of all motor encoders.
Definition: RemoteControlBoard.cpp:1684
RemoteControlBoard::getPWMLimit
bool getPWMLimit(int m, double *val) override
Definition: RemoteControlBoard.cpp:1983
RemoteControlBoard::getCurrents
bool getCurrents(double *vals) override
Definition: RemoteControlBoard.cpp:2810
RemoteControlBoard::disableAmp
bool disableAmp(int j) override
Disable the amplifier on a specific joint.
Definition: RemoteControlBoard.cpp:1929
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:2012
RemoteControlBoard::getEncodersTimed
bool getEncodersTimed(double *encs, double *ts) override
Read the instantaneous acceleration of all axes.
Definition: RemoteControlBoard.cpp:1458
RemoteControlBoard::getPids
bool getPids(const PidControlTypeEnum &pidtype, Pid *pids) override
Get current pid value for a specific joint.
Definition: RemoteControlBoard.cpp:1264
RemoteControlBoard::get1V1I1D
bool get1V1I1D(int v, int j, double *val)
Helper method used to get a double value from the remote peer.
Definition: RemoteControlBoard.cpp:752
RemoteControlBoard::getEncoderAccelerations
bool getEncoderAccelerations(double *accs) override
Read the instantaneous acceleration of all axes.
Definition: RemoteControlBoard.cpp:1498
RemoteControlBoard::setMotorTorqueParams
bool setMotorTorqueParams(int j, const MotorTorqueParameters params) override
Set a subset of motor parameters (bemf, ktau etc) useful for torque control.
Definition: RemoteControlBoard.cpp:2178
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:2002
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:2240
RemoteControlBoard::setRefDutyCycles
bool setRefDutyCycles(const double *v) override
Sets the reference dutycycle for all the motors.
Definition: RemoteControlBoard.cpp:2861
RemoteControlBoard::positionMove
bool positionMove(int j, double ref) override
Set new reference point for a single axis.
Definition: RemoteControlBoard.cpp:1737
RemoteControlBoard::quitPark
bool quitPark() override
quitPark: interrupt the park procedure
Definition: RemoteControlBoard.cpp:2735
RemoteControlBoard::get1V1I1I
bool get1V1I1I(int v, int j, int *val)
Helper method used to get an integer value from the remote peer.
Definition: RemoteControlBoard.cpp:770
RemoteControlBoard::getAxisName
bool getAxisName(int j, std::string &name) override
Definition: RemoteControlBoard.cpp:2026
RemoteControlBoard::getPidReferences
bool getPidReferences(const PidControlTypeEnum &pidtype, double *refs) override
Get the current reference of all pid controllers.
Definition: RemoteControlBoard.cpp:1310
RemoteControlBoard::getRefCurrents
bool getRefCurrents(double *t) override
Get the reference value of the currents for all motors.
Definition: RemoteControlBoard.cpp:2749
yarp::dev::DeviceDriver
Interface implemented by all device drivers.
Definition: DeviceDriver.h:35
yarp::dev::IAmplifierControl
Interface for control devices, amplifier commands.
Definition: IAmplifierControl.h:30
yarp::dev::IAxisInfo
Interface for getting information about specific axes, if available.
Definition: IAxisInfo.h:40
yarp::dev::IControlCalibration
Interface for control devices, calibration commands.
Definition: IControlCalibration.h:82
yarp::dev::IControlLimits
Interface for control devices, commands to get/set position and veloity limits.
Definition: IControlLimits.h:30
yarp::dev::IControlMode
Interface for setting control mode in control board.
Definition: IControlMode.h:25
yarp::dev::ICurrentControl
Interface for control boards implementing current control.
Definition: ICurrentControl.h:25
yarp::dev::IEncodersTimed
Control board, extend encoder interface with timestamps.
Definition: IEncodersTimed.h:56
yarp::dev::IImpedanceControl
Interface for control boards implementing impedance control.
Definition: IImpedanceControl.h:72
yarp::dev::IInteractionMode
Interface settings the way the robot interacts with the environment: basic interaction types are Stif...
Definition: IInteractionMode.h:40
yarp::dev::IMotorEncoders
Control board, encoder interface.
Definition: IMotorEncoders.h:152
yarp::dev::IMotor
Control board, encoder interface.
Definition: IMotor.h:96
yarp::dev::IPWMControl
Interface for controlling an axis, by sending directly a PWM reference signal to a motor.
Definition: IPWMControl.h:25
yarp::dev::IPidControl
Interface for a generic control board device implementing a PID controller, with scaled arguments.
Definition: IPidControl.h:208
yarp::dev::IPositionControl
Interface for a generic control board device implementing position control.
Definition: IPositionControl.h:254
yarp::dev::IPositionDirect
Interface for a generic control board device implementing position control.
Definition: IPositionDirect.h:29
yarp::dev::IRemoteCalibrator
IRemoteCalibrator interface is meant to remotize the access of the calibration device in order to all...
Definition: IRemoteCalibrator.h:27
yarp::dev::IRemoteVariables
IRemoteVariables interface.
Definition: IRemoteVariables.h:48
yarp::dev::ITorqueControl
Interface for control boards implementing torque control.
Definition: ITorqueControl.h:36
yarp::dev::IVelocityControl
Interface for control boards implementing velocity control.
Definition: IVelocityControl.h:157
yarp::dev::Pid
Contains the parameters for a PID.
Definition: ControlBoardPid.h:26
yarp::os::Bottle
A simple collection of objects that can be described and transmitted in a portable way.
Definition: Bottle.h:74
yarp::os::PortReaderBuffer
Buffer incoming data to a port.
Definition: PortReaderBuffer.h:40
yarp::os::PortWriterBuffer
Buffer outgoing data to a port.
Definition: PortWriterBuffer.h:67
yarp::os::Port
A mini-server for network communication.
Definition: Port.h:47
yarp::os::Searchable
A base class for nested structures that can be searched.
Definition: Searchable.h:66
yarp::os::Stamp
An abstraction for a time stamp and/or sequence number.
Definition: Stamp.h:22
yarp::dev::PidControlTypeEnum
PidControlTypeEnum
Definition: PidEnums.h:18