Example implementation of the ActuatedJoints class. More...

#include <DummyActJoint.h>

Inheritance diagram for DummyActJoint:

Collaboration diagram for DummyActJoint:

Public Member Functions
	DummyActJoint (int jointID, double jointMin, double jointMax, Drive *drive)

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

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

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

double	getQ ()

Public Member Functions inherited from ActuatedJoint
	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	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...

Private Member Functions
double	fromDriveUnits (int driveValue)
	Converts from the drive value to the equivalent value for the joint. More...

int	toDriveUnits (double jointValue)
	Converts from the joint value to the equivalent value for the drive. More...

Private Attributes
double	lastQCommand = 0

Additional Inherited Members
Protected Attributes inherited from ActuatedJoint
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

Example implementation of the ActuatedJoints class.

Important to note the simple implementation between the driveValue and jointValue

Definition at line 22 of file DummyActJoint.h.

Constructor & Destructor Documentation

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

Definition at line 17 of file DummyActJoint.cpp.

Member Function Documentation

double DummyActJoint::fromDriveUnits ( int driveValue )

privatevirtual

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

Implements ActuatedJoint.

Definition at line 27 of file DummyActJoint.h.

double DummyActJoint::getQ ( )

Definition at line 41 of file DummyActJoint.cpp.

bool DummyActJoint::initNetwork ( )

virtual

Pure virtual function for initialising the underlying CANopen Network to send and recieve PDO messages for this joint.

Returns: true if successful; false if unsuccessful

Implements Joint.

Definition at line 33 of file DummyActJoint.cpp.

setMovementReturnCode_t DummyActJoint::setPosition ( double desQ )

virtual

Set the Position object.

Parameters

desQ	The desired set position

Returns: setMovementReturnCode_t The result of the setting

Reimplemented from ActuatedJoint.

Definition at line 28 of file DummyActJoint.cpp.

int DummyActJoint::toDriveUnits ( double jointValue )

privatevirtual

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

Implements ActuatedJoint.

Definition at line 28 of file DummyActJoint.h.

bool DummyActJoint::updateValue ( )

virtual

Updates the value of the joint. This will read the value from hardware, and update the software's current representation of the value.

Returns: true if successful; false if unsuccessful

Implements Joint.

Definition at line 22 of file DummyActJoint.cpp.

Member Data Documentation

double DummyActJoint::lastQCommand = 0

private

Definition at line 24 of file DummyActJoint.h.

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

Refactor/src/apps/DummyActJoint.h
Refactor/src/apps/DummyActJoint.cpp

Public Member Functions

Private Member Functions

Private Attributes

Additional Inherited Members

Detailed Description

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation