Abstract class representing an actuated joint in a Robot Class (extending joint). Requires a Drive object through which commands are sent. More...

#include <ActuatedJoint.h>

Inheritance diagram for ActuatedJoint:

Collaboration diagram for ActuatedJoint:

Public Member Functions
	ActuatedJoint (int jointID, double jointMin, double jointMax, Drive *drive)
	Construct a new Actuated Joint object. More...

virtual ControlMode	setMode (ControlMode driveMode_, motorProfile profile)
	Set the mode of the device (nominally, position, velocity or torque control) More...

virtual setMovementReturnCode_t	setPosition (double desQ)
	Set the Position object. More...

virtual setMovementReturnCode_t	setVelocity (double velocity)
	Sets a velocity set point (in joint units) More...

virtual setMovementReturnCode_t	setTorque (double torque)
	Set the torque set point. More...

virtual void	readyToSwitchOn ()
	Set the joint ready to switch On. More...

bool	enable ()
	Enable the joint. More...

Public Member Functions inherited from Joint
	Joint (int jointID, double jointMin, double jointMax)
	Construct a new Joint object. More...

	Joint (int jointID, double jointMin, double jointMax, double q0)
	Construct a new Joint object with initial value for the joint. More...

	~Joint ()
	Destroy the Joint object. More...

int	getId ()
	Get the Id object. More...

double	getQ ()
	Returns the internal value of the joint (e.g. Angle, length, depending on joint type) More...

void	getStatus ()
	prints out the status of the joints current position in degrees More...

virtual bool	updateValue ()=0
	Updates the value of the joint. This will read the value from hardware, and update the software's current representation of the value. More...

virtual bool	initNetwork ()=0
	Pure virtual function for initialising the underlying CANopen Network to send and recieve PDO messages for this joint. More...

Protected Member Functions
virtual int	toDriveUnits (double jointValue)=0
	Converts from the joint value to the equivalent value for the drive. More...

virtual double	fromDriveUnits (int driveValue)=0
	Converts from the drive value to the equivalent value for the joint. More...

Protected Attributes
Drive *	drive
	Contains a Drive object, which is a CANOpen device which is used to control the physical hardware. More...

ControlMode	driveMode = UNCONFIGURED
	The current mode of the drive. More...

Protected Attributes inherited from Joint
const int	id

double	q

const double	qMin

const double	qMax

Detailed Description

Abstract class representing an actuated joint in a Robot Class (extending joint). Requires a Drive object through which commands are sent.

Definition at line 32 of file ActuatedJoint.h.

Constructor & Destructor Documentation

ActuatedJoint::ActuatedJoint	(	int	jointID,
		double	jointMin,
		double	jointMax,
		Drive *	drive
	)

Construct a new Actuated Joint object.

Parameters

jointID	Unique ID representing the joint (not checked in this class)
jointMin	Minimum allowable value for the joint
jointMax	Maximum allowable value for the joint

The ActuatedJoint class is a abstract class which represents a joint in a Robot objec. This class implements the Joint class, and specifically represents a joint which is actuated. This therefore requires a Drive object which will be used to interact with the physical hardware.

Version 0.1 Date: 09/04/2020

Definition at line 16 of file ActuatedJoint.cpp.

Member Function Documentation

bool ActuatedJoint::enable ( )

Enable the joint.

Returns: true if succesful; false if drive is currently not in the correct state to enable

Definition at line 61 of file ActuatedJoint.cpp.

virtual double ActuatedJoint::fromDriveUnits ( int driveValue )

protectedpure virtual

Converts from the drive value to the equivalent value for the joint.

Notes:

The drive value is always an integer (due to the CANOpen specification) and the joint value is always a double (data type of q)
This may be a linear relationship (e.g. degrees to encoder counts) or a more complicated one (e.g. linear actuator position to degrees) depending on the structure of the device and system.

Parameters

driveValue The drive value to be converted

Returns: The equivalent joint value for the given drive value

Implemented in DummyActJoint.

void ActuatedJoint::readyToSwitchOn ( )

virtual

Set the joint ready to switch On.

Definition at line 57 of file ActuatedJoint.cpp.

ControlMode ActuatedJoint::setMode	(	ControlMode	driveMode_,
		motorProfile	profile
	)

virtual

Set the mode of the device (nominally, position, velocity or torque control)

Parameters

driveMode	The mode to be used if possible
motorProfile	variables for desired mode, e.g. postion: v,a and deceleration.

Returns: ControlMode Configured Drive Mode, -1 if unsuccessful

Definition at line 20 of file ActuatedJoint.cpp.

setMovementReturnCode_t ActuatedJoint::setPosition ( double desQ )

virtual

Set the Position object.

Parameters

desQ	The desired set position

Returns: setMovementReturnCode_t The result of the setting

Reimplemented in DummyActJoint.

Definition at line 31 of file ActuatedJoint.cpp.

setMovementReturnCode_t ActuatedJoint::setTorque ( double torque )

virtual

Set the torque set point.

Parameters

torque The desired set position

Returns: setMovementReturnCode_t The result of the setting

Definition at line 52 of file ActuatedJoint.cpp.

setMovementReturnCode_t ActuatedJoint::setVelocity ( double velocity )

virtual

Sets a velocity set point (in joint units)

Parameters

velocity The desired set position

Returns: setMovementReturnCode_t The result of the setting

Definition at line 42 of file ActuatedJoint.cpp.

virtual int ActuatedJoint::toDriveUnits ( double jointValue )

protectedpure virtual

Converts from the joint value to the equivalent value for the drive.

Notes:

The drive value is always an integer (due to the CANOpen specification) and the joint value is always a double (data type of q)
This may be a linear relationship (e.g. degrees to encoder counts) or a more complicated one (e.g. linear actuator position to degrees) depending on the structure of the device and system.

Parameters

jointValue The joint value to be converted

Returns: int The equivalent drive value for the given joint value

Implemented in DummyActJoint.

Member Data Documentation

Drive* ActuatedJoint::drive

protected

Contains a Drive object, which is a CANOpen device which is used to control the physical hardware.

Definition at line 39 of file ActuatedJoint.h.

ControlMode ActuatedJoint::driveMode = UNCONFIGURED

protected

The current mode of the drive.

Definition at line 45 of file ActuatedJoint.h.

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

Refactor/src/libs/robot/joint/ActuatedJoint.h
Refactor/src/libs/robot/joint/ActuatedJoint.cpp

Public Member Functions

Protected Member Functions

Protected Attributes

Detailed Description

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation