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yarp::dev::CanBusMotionControl Class Reference

canbusmotioncontrol : driver for motor control boards on a CAN bus. More...

#include <CanBusMotionControl.h>

+ Inheritance diagram for yarp::dev::CanBusMotionControl:

Public Member Functions

 CanBusMotionControl ()
 Default constructor. More...
 
virtual ~CanBusMotionControl ()
 Destructor. More...
 
virtual bool open (yarp::os::Searchable &config)
 Open the device driver and start communication with the hardware. More...
 
bool open (const CanBusMotionControlParameters &par)
 Open the device driver. More...
 
virtual bool close (void)
 Closes the device driver. More...
 
yarp::dev::DeviceDriver * createDevice (yarp::os::Searchable &config)
 
void setServerLogger (const IServerLogger *server)
 
virtual bool setPidRaw (const PidControlTypeEnum &pidtype, int j, const Pid &pid) override
 
virtual bool setPidsRaw (const PidControlTypeEnum &pidtype, const Pid *pids) override
 
virtual bool setPidReferenceRaw (const PidControlTypeEnum &pidtype, int j, double ref) override
 cmd is a SingleAxis poitner with 1 double arg More...
 
virtual bool setPidReferencesRaw (const PidControlTypeEnum &pidtype, const double *refs) override
 cmd is an array of double (LATER: to be optimized). More...
 
virtual bool setPidErrorLimitRaw (const PidControlTypeEnum &pidtype, int j, double limit) override
 
virtual bool setPidErrorLimitsRaw (const PidControlTypeEnum &pidtype, const double *limits) override
 
virtual bool getPidErrorRaw (const PidControlTypeEnum &pidtype, int j, double *err) override
 
virtual bool getPidErrorsRaw (const PidControlTypeEnum &pidtype, double *errs) override
 
virtual bool getPidOutputRaw (const PidControlTypeEnum &pidtype, int j, double *out) override
 
virtual bool getPidOutputsRaw (const PidControlTypeEnum &pidtype, double *outs) override
 
virtual bool getPidRaw (const PidControlTypeEnum &pidtype, int j, Pid *pid) override
 
virtual bool getPidsRaw (const PidControlTypeEnum &pidtype, Pid *pids) override
 
virtual bool getPidReferenceRaw (const PidControlTypeEnum &pidtype, int j, double *ref) override
 
virtual bool getPidReferencesRaw (const PidControlTypeEnum &pidtype, double *refs) override
 
virtual bool getPidErrorLimitRaw (const PidControlTypeEnum &pidtype, int j, double *limit) override
 
virtual bool getPidErrorLimitsRaw (const PidControlTypeEnum &pidtype, double *limits) override
 
virtual bool resetPidRaw (const PidControlTypeEnum &pidtype, int j) override
 
virtual bool disablePidRaw (const PidControlTypeEnum &pidtype, int j) override
 
virtual bool enablePidRaw (const PidControlTypeEnum &pidtype, int j) override
 
virtual bool setPidOffsetRaw (const PidControlTypeEnum &pidtype, int j, double v) override
 
virtual bool isPidEnabledRaw (const PidControlTypeEnum &pidtype, int j, bool *enabled)
 
virtual bool getAxes (int *ax) override
 POSITION CONTROL INTERFACE RAW. More...
 
virtual bool positionMoveRaw (int j, double ref) override
 
virtual bool positionMoveRaw (const double *refs) override
 
virtual bool relativeMoveRaw (int j, double delta) override
 
virtual bool relativeMoveRaw (const double *deltas) override
 
virtual bool checkMotionDoneRaw (bool *flag) override
 ret is a pointer to a bool More...
 
virtual bool checkMotionDoneRaw (int j, bool *flag) override
 check motion done, single axis. More...
 
virtual bool setRefSpeedRaw (int j, double sp) override
 
virtual bool setRefSpeedsRaw (const double *spds) override
 
virtual bool setRefAccelerationRaw (int j, double acc) override
 
virtual bool setRefAccelerationsRaw (const double *accs) override
 
virtual bool getRefSpeedRaw (int j, double *ref) override
 
virtual bool getRefSpeedsRaw (double *spds) override
 cmd is an array of double (LATER: to be optimized). More...
 
virtual bool getRefAccelerationRaw (int j, double *acc) override
 cmd is an array of double (LATER: to be optimized). More...
 
virtual bool getRefAccelerationsRaw (double *accs) override
 cmd is an array of double (LATER: to be optimized). More...
 
virtual bool stopRaw (int j) override
 
virtual bool stopRaw () override
 
bool helper_setPosPidRaw (int j, const Pid &pid)
 
bool helper_getPosPidRaw (int j, Pid *pid)
 
virtual bool getRefTorqueRaw (int j, double *ref_trq) override
 TORQUE CONTROL INTERFACE RAW. More...
 
virtual bool getRefTorquesRaw (double *ref_trqs) override
 cmd is an array of double (LATER: to be optimized). More...
 
virtual bool setRefTorqueRaw (int j, double ref_trq) override
 cmd is a SingleAxis poitner with 1 double arg More...
 
virtual bool setRefTorquesRaw (const double *ref_trqs) override
 cmd is an array of double (LATER: to be optimized). More...
 
virtual bool setRefTorquesRaw (const int n_joint, const int *joints, const double *t) override
 
virtual bool getTorqueRaw (int j, double *trq) override
 cmd is a SingleAxis pointer with 1 double arg More...
 
virtual bool getTorquesRaw (double *trqs) override
 cmd is an array of double (LATER: to be optimized). More...
 
virtual bool getTorqueRangeRaw (int j, double *min, double *max) override
 
virtual bool getTorqueRangesRaw (double *min, double *max) override
 
virtual bool getMotorTorqueParamsRaw (int j, MotorTorqueParameters *params) override
 
virtual bool setMotorTorqueParamsRaw (int j, const MotorTorqueParameters params) override
 
bool getFilterTypeRaw (int j, int *type)
 
bool setFilterTypeRaw (int j, int type)
 
bool helper_setTrqPidRaw (int j, const Pid &pid)
 
bool helper_getTrqPidRaw (int j, Pid *pid)
 
virtual bool getImpedanceRaw (int j, double *stiff, double *damp) override
 IMPEDANCE CONTROL INTERFACE RAW. More...
 
virtual bool setImpedanceRaw (int j, double stiff, double damp) override
 
virtual bool getImpedanceOffsetRaw (int j, double *offs) override
 
virtual bool setImpedanceOffsetRaw (int j, double offs) override
 
virtual bool getCurrentImpedanceLimitRaw (int j, double *min_stiff, double *max_stiff, double *min_damp, double *max_damp) override
 
virtual bool getControlModeRaw (int j, int *v) override
 
virtual bool getControlModesRaw (int *v) override
 
virtual bool getControlModesRaw (const int n_joint, const int *joints, int *modes) override
 
virtual bool setControlModeRaw (const int j, const int mode) override
 
virtual bool setControlModesRaw (const int n_joint, const int *joints, int *modes) override
 
virtual bool setControlModesRaw (int *modes) override
 
virtual bool getRemoteVariableRaw (std::string key, yarp::os::Bottle &val) override
 
virtual bool setRemoteVariableRaw (std::string key, const yarp::os::Bottle &val) override
 
virtual bool getRemoteVariablesListRaw (yarp::os::Bottle *listOfKeys) override
 
virtual bool velocityMoveRaw (int j, double sp) override
 Velocity control interface raw. More...
 
virtual bool velocityMoveRaw (const double *sp) override
 cmd is an array of double of length njoints specifying speed for each axis More...
 
bool setVelocityShiftRaw (int j, double val)
 
bool setVelocityTimeoutRaw (int j, double val)
 
bool setSpeedEstimatorShiftRaw (int j, double jnt_speed, double jnt_acc, double mot_speed, double mot_acc)
 
virtual bool resetEncoderRaw (int j) override
 
virtual bool resetEncodersRaw () override
 
virtual bool setEncoderRaw (int j, double val) override
 
virtual bool setEncodersRaw (const double *vals) override
 
virtual bool getEncoderRaw (int j, double *v) override
 
virtual bool getEncodersRaw (double *encs) override
 
virtual bool getEncoderSpeedRaw (int j, double *sp) override
 
virtual bool getEncoderSpeedsRaw (double *spds) override
 
virtual bool getEncoderAccelerationRaw (int j, double *spds) override
 
virtual bool getEncoderAccelerationsRaw (double *accs) override
 
virtual bool getEncodersTimedRaw (double *v, double *t) override
 
virtual bool getEncoderTimedRaw (int j, double *v, double *t) override
 
virtual bool getNumberOfMotorEncodersRaw (int *num) override
 
virtual bool resetMotorEncoderRaw (int m) override
 
virtual bool resetMotorEncodersRaw () override
 
virtual bool setMotorEncoderRaw (int m, const double val) override
 
virtual bool setMotorEncodersRaw (const double *vals) override
 
virtual bool getMotorEncoderRaw (int m, double *v) override
 
virtual bool getMotorEncodersRaw (double *encs) override
 
virtual bool getMotorEncoderCountsPerRevolutionRaw (int m, double *cpr) override
 
virtual bool setMotorEncoderCountsPerRevolutionRaw (int m, const double cpr) override
 
virtual bool getMotorEncoderSpeedRaw (int m, double *sp) override
 
virtual bool getMotorEncoderSpeedsRaw (double *spds) override
 
virtual bool getMotorEncoderAccelerationRaw (int m, double *spds) override
 
virtual bool getMotorEncoderAccelerationsRaw (double *accs) override
 
virtual bool getMotorEncodersTimedRaw (double *v, double *t) override
 
virtual bool getMotorEncoderTimedRaw (int m, double *v, double *t) override
 
virtual bool enableAmpRaw (int j) override
 
virtual bool disableAmpRaw (int j) override
 
virtual bool getCurrentsRaw (double *vals) override
 
virtual bool getCurrentRaw (int j, double *val) override
 
virtual bool setMaxCurrentRaw (int j, double val) override
 
virtual bool getMaxCurrentRaw (int j, double *val) override
 
virtual bool getAmpStatusRaw (int *st) override
 
virtual bool getAmpStatusRaw (int j, int *st) override
 
virtual bool getPWMRaw (int j, double *val) override
 
virtual bool getPWMLimitRaw (int j, double *val) override
 
virtual bool setPWMLimitRaw (int j, const double val) override
 
virtual bool getPowerSupplyVoltageRaw (int j, double *val) override
 
virtual bool getNumberOfMotorsRaw (int *m) override
 IMotor. More...
 
virtual bool getTemperatureRaw (int m, double *val) override
 
virtual bool getTemperaturesRaw (double *vals) override
 
virtual bool getTemperatureLimitRaw (int m, double *temp) override
 
virtual bool setTemperatureLimitRaw (int m, const double temp) override
 
virtual bool getPeakCurrentRaw (int m, double *val) override
 
virtual bool setPeakCurrentRaw (int m, const double val) override
 
virtual bool getNominalCurrentRaw (int m, double *val) override
 
virtual bool setNominalCurrentRaw (int m, const double val) override
 
virtual bool getAxisNameRaw (int axis, std::string &name) override
 IAxisInfo. More...
 
virtual bool getJointTypeRaw (int axis, yarp::dev::JointTypeEnum &type) override
 
virtual bool calibrationDoneRaw (int j) override
 
virtual bool calibrateAxisWithParamsRaw (int axis, unsigned int type, double p1, double p2, double p3) override
 
virtual bool setCalibrationParametersRaw (int j, const CalibrationParameters &params) override
 
virtual bool setPrintFunction (int(*f)(const char *fmt,...))
 IControlDebug Interface. More...
 
virtual bool loadBootMemory ()
 
virtual bool saveBootMemory ()
 
virtual bool setParameterRaw (int j, unsigned int type, double value)
 
virtual bool getParameterRaw (int j, unsigned int type, double *value)
 
virtual bool setDebugParameterRaw (int j, unsigned int index, double value)
 
virtual bool getDebugParameterRaw (int j, unsigned int index, double *value)
 
virtual bool setDebugReferencePositionRaw (int j, double value)
 
virtual bool getDebugReferencePositionRaw (int j, double *value)
 
virtual bool setLimitsRaw (int axis, double min, double max) override
 
virtual bool getLimitsRaw (int axis, double *min, double *max) override
 
virtual bool setVelLimitsRaw (int axis, double min, double max) override
 
virtual bool getVelLimitsRaw (int axis, double *min, double *max) override
 
virtual yarp::os::Stamp getLastInputStamp () override
 
virtual bool positionMoveRaw (const int n_joint, const int *joints, const double *refs) override
 
virtual bool relativeMoveRaw (const int n_joint, const int *joints, const double *deltas) override
 
virtual bool checkMotionDoneRaw (const int n_joint, const int *joints, bool *flags) override
 
virtual bool setRefSpeedsRaw (const int n_joint, const int *joints, const double *spds) override
 
virtual bool setRefAccelerationsRaw (const int n_joint, const int *joints, const double *accs) override
 
virtual bool getRefSpeedsRaw (const int n_joint, const int *joints, double *spds) override
 
virtual bool getRefAccelerationsRaw (const int n_joint, const int *joints, double *accs) override
 
virtual bool stopRaw (const int n_joint, const int *joints) override
 
virtual bool getTargetPositionRaw (const int joint, double *ref) override
 
virtual bool getTargetPositionsRaw (double *refs) override
 
virtual bool getTargetPositionsRaw (const int n_joint, const int *joints, double *refs) override
 
virtual bool velocityMoveRaw (const int n_joint, const int *joints, const double *spds) override
 
virtual bool getRefVelocityRaw (const int joint, double *ref) override
 
virtual bool getRefVelocitiesRaw (double *refs) override
 
virtual bool getRefVelocitiesRaw (const int n_joint, const int *joints, double *refs) override
 
bool helper_getVelPidRaw (int j, Pid *pid)
 
bool helper_setVelPidRaw (int j, const Pid &pid)
 
virtual bool getFirmwareVersionRaw (int axis, can_protocol_info const &icub_interface_protocol, firmware_info *info)
 
virtual bool setTorqueSource (int axis, char board_id, char board_chan)
 
virtual bool setPositionRaw (int j, double ref) override
 
virtual bool setPositionsRaw (const int n_joint, const int *joints, const double *refs) override
 
virtual bool setPositionsRaw (const double *refs) override
 
virtual bool getRefPositionRaw (const int joint, double *ref) override
 
virtual bool getRefPositionsRaw (double *refs) override
 
virtual bool getRefPositionsRaw (const int n_joint, const int *joints, double *refs) override
 
virtual bool getInteractionModeRaw (int axis, yarp::dev::InteractionModeEnum *mode) override
 
virtual bool getInteractionModesRaw (int n_joints, int *joints, yarp::dev::InteractionModeEnum *modes) override
 
virtual bool getInteractionModesRaw (yarp::dev::InteractionModeEnum *modes) override
 
virtual bool setInteractionModeRaw (int axis, yarp::dev::InteractionModeEnum mode) override
 
virtual bool setInteractionModesRaw (int n_joints, int *joints, yarp::dev::InteractionModeEnum *modes) override
 
virtual bool setInteractionModesRaw (yarp::dev::InteractionModeEnum *modes) override
 
virtual bool setRefDutyCycleRaw (int j, double v) override
 
virtual bool setRefDutyCyclesRaw (const double *v) override
 
virtual bool getRefDutyCycleRaw (int j, double *v) override
 
virtual bool getRefDutyCyclesRaw (double *v) override
 
virtual bool getDutyCycleRaw (int j, double *v) override
 
virtual bool getDutyCyclesRaw (double *v) override
 
virtual bool getCurrentRangeRaw (int j, double *min, double *max) override
 
virtual bool getCurrentRangesRaw (double *min, double *max) override
 
virtual bool setRefCurrentsRaw (const double *t) override
 
virtual bool setRefCurrentRaw (int j, double t) override
 
virtual bool setRefCurrentsRaw (const int n_joint, const int *joints, const double *t) override
 
virtual bool getRefCurrentsRaw (double *t) override
 
virtual bool getRefCurrentRaw (int j, double *t) override
 
bool helper_setCurPidRaw (int j, const Pid &pid)
 
bool helper_getCurPidRaw (int j, Pid *pid)
 
- Public Member Functions inherited from yarp::dev::IFactoryInterface
virtual ~IFactoryInterface ()
 

Protected Types

enum  {
  MAX_SHORT = 32767 ,
  MIN_SHORT = -32768 ,
  MAX_INT = 0x7fffffff ,
  MIN_INT = 0x80000000
}
 time stamp for last received position move command More...
 
enum  { CAN_SKIP_ADDR = 0x80 }
 

Protected Member Functions

bool setBCastMessages (int axis, unsigned int v)
 sets the broadcast policy for a given board (don't need to be called twice). More...
 
bool ENABLED (int axis)
 helper function to check whether the enabled flag is on or off. More...
 
virtual void run (void)
 
virtual bool threadInit ()
 
virtual void threadRelease ()
 
bool _writeWord16 (int msg, int axis, short s)
 to send a Word16. More...
 
bool _writeWord16Ex (int msg, int axis, short s1, short s2, bool check=true)
 two shorts in a single Can message (both must belong to the same control card). More...
 
bool _readWord16 (int msg, int axis, short &value)
 
bool _readWord16Ex (int msg, int axis, short &value1, short &value2)
 
bool _readWord16Array (int msg, double *out)
 reads an array. More...
 
bool _readDWord (int msg, int axis, int &value)
 READ functions sends a message and gets a dword back. More...
 
bool _readDWordArray (int msg, double *out)
 reads an array of double words. More...
 
bool _writeDWord (int msg, int axis, int value)
 write a DWord More...
 
bool _writeNone (int msg, int axis)
 WRITE functions sends a message without parameters. More...
 
bool _writeByte8 (int msg, int axis, int value)
 write a byte More...
 
bool _readByte8 (int msg, int axis, int &value)
 
bool _writeByteWords16 (int msg, int axis, unsigned char value, short s1, short s2, short s3)
 
icubCanProto_controlmode_t from_modevocab_to_modeint (int modevocab)
 
int from_modeint_to_modevocab (unsigned char modeint)
 
unsigned char from_interactionvocab_to_interactionint (int interactionvocab)
 
int from_interactionint_to_interactionvocab (unsigned char interactionint)
 
short S_16 (double x) const
 
int S_32 (double x) const
 

Protected Attributes

void * system_resources
 
std::recursive_mutex _mutex
 
ICanBus * canController
 
bool _writerequested
 
bool _noreply
 
bool _opened
 
ThreadPool2threadPool
 
int _filter
 filter for recurrent messages. More...
 
axisTorqueHelper_axisTorqueHelper
 
axisImpedanceHelper_axisImpedanceHelper
 
firmwareVersionHelper_firmwareVersionHelper
 
speedEstimationHelper_speedEstimationHelper
 
axisPositionDirectHelper_axisPositionDirectHelper
 
double * _ref_speeds
 
double * _ref_command_speeds
 
double * _ref_accs
 
double * _ref_torques
 
double * _ref_command_positions
 
double * _ref_positions
 
double * _max_vel_jnt_cmd
 
bool _MCtorqueControlEnabled
 
double * _last_position_move_time
 

Detailed Description

canbusmotioncontrol : driver for motor control boards on a CAN bus.

This device contains code which handles communication to the motor control boards on a CAN bus. It converts requests from function calls into CAN bus messages for the motor control boards. A thread monitors the bus for incoming messages and dispatches replies to calling threads.

Communication with the CAN bus is done through the standard YARP ICanBus interface.

YARP device name
canbusmotioncontrol

Definition at line 654 of file CanBusMotionControl.h.

Member Enumeration Documentation

◆ anonymous enum

anonymous enum
protected

time stamp for last received position move command

Enumerator
MAX_SHORT 
MIN_SHORT 
MAX_INT 
MIN_INT 

Definition at line 1180 of file CanBusMotionControl.h.

◆ anonymous enum

anonymous enum
protected
Enumerator
CAN_SKIP_ADDR 

Definition at line 1181 of file CanBusMotionControl.h.

Constructor & Destructor Documentation

◆ CanBusMotionControl()

CanBusMotionControl::CanBusMotionControl ( )

Default constructor.

Construction is done in two stages, first build the object and then open the device driver.

Definition at line 2391 of file CanBusMotionControl.cpp.

◆ ~CanBusMotionControl()

CanBusMotionControl::~CanBusMotionControl ( )
virtual

Destructor.

Definition at line 2431 of file CanBusMotionControl.cpp.

Member Function Documentation

◆ _readByte8()

bool CanBusMotionControl::_readByte8 ( int  msg,
int  axis,
int &  value 
)
protected

Definition at line 7106 of file CanBusMotionControl.cpp.

◆ _readDWord()

bool CanBusMotionControl::_readDWord ( int  msg,
int  axis,
int &  value 
)
protected

READ functions sends a message and gets a dword back.

Definition at line 6936 of file CanBusMotionControl.cpp.

◆ _readDWordArray()

bool CanBusMotionControl::_readDWordArray ( int  msg,
double *  out 
)
protected

reads an array of double words.

Definition at line 6986 of file CanBusMotionControl.cpp.

◆ _readWord16()

bool CanBusMotionControl::_readWord16 ( int  msg,
int  axis,
short &  value 
)
protected

Definition at line 7054 of file CanBusMotionControl.cpp.

◆ _readWord16Array()

bool CanBusMotionControl::_readWord16Array ( int  msg,
double *  out 
)
protected

reads an array.

Definition at line 7216 of file CanBusMotionControl.cpp.

◆ _readWord16Ex()

bool CanBusMotionControl::_readWord16Ex ( int  msg,
int  axis,
short &  value1,
short &  value2 
)
protected

Definition at line 7158 of file CanBusMotionControl.cpp.

◆ _writeByte8()

bool CanBusMotionControl::_writeByte8 ( int  msg,
int  axis,
int  value 
)
protected

write a byte

Definition at line 6816 of file CanBusMotionControl.cpp.

◆ _writeByteWords16()

bool CanBusMotionControl::_writeByteWords16 ( int  msg,
int  axis,
unsigned char  value,
short  s1,
short  s2,
short  s3 
)
protected

prepare Can message.

Definition at line 6894 of file CanBusMotionControl.cpp.

◆ _writeDWord()

bool CanBusMotionControl::_writeDWord ( int  msg,
int  axis,
int  value 
)
protected

write a DWord

Definition at line 6840 of file CanBusMotionControl.cpp.

◆ _writeNone()

bool CanBusMotionControl::_writeNone ( int  msg,
int  axis 
)
protected

WRITE functions sends a message without parameters.

Definition at line 6768 of file CanBusMotionControl.cpp.

◆ _writeWord16()

bool CanBusMotionControl::_writeWord16 ( int  msg,
int  axis,
short  s 
)
protected

to send a Word16.

prepare Can message.

Definition at line 6792 of file CanBusMotionControl.cpp.

◆ _writeWord16Ex()

bool CanBusMotionControl::_writeWord16Ex ( int  msg,
int  axis,
short  s1,
short  s2,
bool  check = true 
)
protected

two shorts in a single Can message (both must belong to the same control card).

prepare Can message.

axis is even.

Definition at line 6864 of file CanBusMotionControl.cpp.

◆ calibrateAxisWithParamsRaw()

bool CanBusMotionControl::calibrateAxisWithParamsRaw ( int  axis,
unsigned int  type,
double  p1,
double  p2,
double  p3 
)
overridevirtual

Definition at line 5608 of file CanBusMotionControl.cpp.

◆ calibrationDoneRaw()

bool CanBusMotionControl::calibrationDoneRaw ( int  j)
overridevirtual

Definition at line 6424 of file CanBusMotionControl.cpp.

◆ checkMotionDoneRaw() [1/3]

bool CanBusMotionControl::checkMotionDoneRaw ( bool *  flag)
overridevirtual

ret is a pointer to a bool

Definition at line 5542 of file CanBusMotionControl.cpp.

◆ checkMotionDoneRaw() [2/3]

bool CanBusMotionControl::checkMotionDoneRaw ( const int  n_joint,
const int *  joints,
bool *  flags 
)
overridevirtual

Definition at line 6531 of file CanBusMotionControl.cpp.

◆ checkMotionDoneRaw() [3/3]

bool CanBusMotionControl::checkMotionDoneRaw ( int  j,
bool *  flag 
)
overridevirtual

check motion done, single axis.

Definition at line 5523 of file CanBusMotionControl.cpp.

◆ close()

bool CanBusMotionControl::close ( void  )
virtual

Closes the device driver.

Returns
true on success.

default initialization for this device driver.

stops the thread first (joins too).

Definition at line 2972 of file CanBusMotionControl.cpp.

◆ createDevice()

yarp::dev::DeviceDriver * CanBusMotionControl::createDevice ( yarp::os::Searchable &  config)
virtual

Implements yarp::dev::IFactoryInterface.

Definition at line 7282 of file CanBusMotionControl.cpp.

◆ disableAmpRaw()

bool CanBusMotionControl::disableAmpRaw ( int  j)
overridevirtual

Definition at line 6263 of file CanBusMotionControl.cpp.

◆ disablePidRaw()

bool CanBusMotionControl::disablePidRaw ( const PidControlTypeEnum &  pidtype,
int  j 
)
overridevirtual

Definition at line 5448 of file CanBusMotionControl.cpp.

◆ enableAmpRaw()

bool CanBusMotionControl::enableAmpRaw ( int  j)
overridevirtual

Definition at line 6268 of file CanBusMotionControl.cpp.

◆ ENABLED()

bool CanBusMotionControl::ENABLED ( int  axis)
inlineprotected

helper function to check whether the enabled flag is on or off.

Parameters
axisis the axis to check for.
Returns
true if the axis is enabled and processing of the message can in fact continue.

Definition at line 6760 of file CanBusMotionControl.cpp.

◆ enablePidRaw()

bool CanBusMotionControl::enablePidRaw ( const PidControlTypeEnum &  pidtype,
int  j 
)
overridevirtual

Definition at line 5359 of file CanBusMotionControl.cpp.

◆ from_interactionint_to_interactionvocab()

int CanBusMotionControl::from_interactionint_to_interactionvocab ( unsigned char  interactionint)
inlineprotected

Definition at line 3888 of file CanBusMotionControl.cpp.

◆ from_interactionvocab_to_interactionint()

unsigned char CanBusMotionControl::from_interactionvocab_to_interactionint ( int  interactionvocab)
inlineprotected

Definition at line 3871 of file CanBusMotionControl.cpp.

◆ from_modeint_to_modevocab()

int CanBusMotionControl::from_modeint_to_modevocab ( unsigned char  modeint)
inlineprotected

Definition at line 3953 of file CanBusMotionControl.cpp.

◆ from_modevocab_to_modeint()

icubCanProto_controlmode_t CanBusMotionControl::from_modevocab_to_modeint ( int  modevocab)
inlineprotected

Definition at line 3906 of file CanBusMotionControl.cpp.

◆ getAmpStatusRaw() [1/2]

bool CanBusMotionControl::getAmpStatusRaw ( int *  st)
overridevirtual

Definition at line 6450 of file CanBusMotionControl.cpp.

◆ getAmpStatusRaw() [2/2]

bool CanBusMotionControl::getAmpStatusRaw ( int  j,
int *  st 
)
overridevirtual

Definition at line 6467 of file CanBusMotionControl.cpp.

◆ getAxes()

bool CanBusMotionControl::getAxes ( int *  ax)
overridevirtual

POSITION CONTROL INTERFACE RAW.

Definition at line 4270 of file CanBusMotionControl.cpp.

◆ getAxisNameRaw()

bool CanBusMotionControl::getAxisNameRaw ( int  axis,
std::string &  name 
)
overridevirtual

IAxisInfo.

Definition at line 4198 of file CanBusMotionControl.cpp.

◆ getControlModeRaw()

bool CanBusMotionControl::getControlModeRaw ( int  j,
int *  v 
)
overridevirtual

Definition at line 4019 of file CanBusMotionControl.cpp.

◆ getControlModesRaw() [1/2]

bool CanBusMotionControl::getControlModesRaw ( const int  n_joint,
const int *  joints,
int *  modes 
)
overridevirtual

Definition at line 4041 of file CanBusMotionControl.cpp.

◆ getControlModesRaw() [2/2]

bool CanBusMotionControl::getControlModesRaw ( int *  v)
overridevirtual

Definition at line 3833 of file CanBusMotionControl.cpp.

◆ getCurrentImpedanceLimitRaw()

bool CanBusMotionControl::getCurrentImpedanceLimitRaw ( int  j,
double *  min_stiff,
double *  max_stiff,
double *  min_damp,
double *  max_damp 
)
overridevirtual

Definition at line 4383 of file CanBusMotionControl.cpp.

◆ getCurrentRangeRaw()

bool CanBusMotionControl::getCurrentRangeRaw ( int  j,
double *  min,
double *  max 
)
overridevirtual

Definition at line 7520 of file CanBusMotionControl.cpp.

◆ getCurrentRangesRaw()

bool CanBusMotionControl::getCurrentRangesRaw ( double *  min,
double *  max 
)
overridevirtual

Definition at line 7525 of file CanBusMotionControl.cpp.

◆ getCurrentRaw()

bool CanBusMotionControl::getCurrentRaw ( int  j,
double *  val 
)
overridevirtual

Definition at line 6288 of file CanBusMotionControl.cpp.

◆ getCurrentsRaw()

bool CanBusMotionControl::getCurrentsRaw ( double *  vals)
overridevirtual

Definition at line 6274 of file CanBusMotionControl.cpp.

◆ getDebugParameterRaw()

bool CanBusMotionControl::getDebugParameterRaw ( int  j,
unsigned int  index,
double *  value 
)
virtual

Definition at line 5119 of file CanBusMotionControl.cpp.

◆ getDebugReferencePositionRaw()

bool CanBusMotionControl::getDebugReferencePositionRaw ( int  j,
double *  value 
)
virtual

Definition at line 5178 of file CanBusMotionControl.cpp.

◆ getDutyCycleRaw()

bool CanBusMotionControl::getDutyCycleRaw ( int  j,
double *  v 
)
overridevirtual

Definition at line 7485 of file CanBusMotionControl.cpp.

◆ getDutyCyclesRaw()

bool CanBusMotionControl::getDutyCyclesRaw ( double *  v)
overridevirtual

Definition at line 7495 of file CanBusMotionControl.cpp.

◆ getEncoderAccelerationRaw()

bool CanBusMotionControl::getEncoderAccelerationRaw ( int  j,
double *  spds 
)
overridevirtual

Definition at line 6096 of file CanBusMotionControl.cpp.

◆ getEncoderAccelerationsRaw()

bool CanBusMotionControl::getEncoderAccelerationsRaw ( double *  accs)
overridevirtual

Definition at line 6083 of file CanBusMotionControl.cpp.

◆ getEncoderRaw()

bool CanBusMotionControl::getEncoderRaw ( int  j,
double *  v 
)
overridevirtual

Definition at line 6048 of file CanBusMotionControl.cpp.

◆ getEncoderSpeedRaw()

bool CanBusMotionControl::getEncoderSpeedRaw ( int  j,
double *  sp 
)
overridevirtual

Definition at line 6070 of file CanBusMotionControl.cpp.

◆ getEncoderSpeedsRaw()

bool CanBusMotionControl::getEncoderSpeedsRaw ( double *  spds)
overridevirtual

Definition at line 6058 of file CanBusMotionControl.cpp.

◆ getEncodersRaw()

bool CanBusMotionControl::getEncodersRaw ( double *  encs)
overridevirtual

Definition at line 6022 of file CanBusMotionControl.cpp.

◆ getEncodersTimedRaw()

bool CanBusMotionControl::getEncodersTimedRaw ( double *  v,
double *  t 
)
overridevirtual

Definition at line 7314 of file CanBusMotionControl.cpp.

◆ getEncoderTimedRaw()

bool CanBusMotionControl::getEncoderTimedRaw ( int  j,
double *  v,
double *  t 
)
overridevirtual

Definition at line 7334 of file CanBusMotionControl.cpp.

◆ getFilterTypeRaw()

bool CanBusMotionControl::getFilterTypeRaw ( int  j,
int *  type 
)

prepare Can message.

Definition at line 5835 of file CanBusMotionControl.cpp.

◆ getFirmwareVersionRaw()

bool CanBusMotionControl::getFirmwareVersionRaw ( int  axis,
can_protocol_info const &  icub_interface_protocol,
firmware_info info 
)
virtual

Definition at line 5193 of file CanBusMotionControl.cpp.

◆ getImpedanceOffsetRaw()

bool CanBusMotionControl::getImpedanceOffsetRaw ( int  j,
double *  offs 
)
overridevirtual

Definition at line 4400 of file CanBusMotionControl.cpp.

◆ getImpedanceRaw()

bool CanBusMotionControl::getImpedanceRaw ( int  j,
double *  stiff,
double *  damp 
)
overridevirtual

IMPEDANCE CONTROL INTERFACE RAW.

Definition at line 4320 of file CanBusMotionControl.cpp.

◆ getInteractionModeRaw()

bool CanBusMotionControl::getInteractionModeRaw ( int  axis,
yarp::dev::InteractionModeEnum *  mode 
)
overridevirtual

Definition at line 7347 of file CanBusMotionControl.cpp.

◆ getInteractionModesRaw() [1/2]

bool CanBusMotionControl::getInteractionModesRaw ( int  n_joints,
int *  joints,
yarp::dev::InteractionModeEnum *  modes 
)
overridevirtual

Definition at line 7359 of file CanBusMotionControl.cpp.

◆ getInteractionModesRaw() [2/2]

bool CanBusMotionControl::getInteractionModesRaw ( yarp::dev::InteractionModeEnum *  modes)
overridevirtual

Definition at line 7375 of file CanBusMotionControl.cpp.

◆ getJointTypeRaw()

bool CanBusMotionControl::getJointTypeRaw ( int  axis,
yarp::dev::JointTypeEnum &  type 
)
overridevirtual

Definition at line 4213 of file CanBusMotionControl.cpp.

◆ getLastInputStamp()

Stamp CanBusMotionControl::getLastInputStamp ( )
overridevirtual

Definition at line 6041 of file CanBusMotionControl.cpp.

◆ getLimitsRaw()

bool CanBusMotionControl::getLimitsRaw ( int  axis,
double *  min,
double *  max 
)
overridevirtual

Definition at line 6489 of file CanBusMotionControl.cpp.

◆ getMaxCurrentRaw()

bool CanBusMotionControl::getMaxCurrentRaw ( int  j,
double *  val 
)
overridevirtual

Definition at line 6307 of file CanBusMotionControl.cpp.

◆ getMotorEncoderAccelerationRaw()

bool CanBusMotionControl::getMotorEncoderAccelerationRaw ( int  m,
double *  spds 
)
overridevirtual

Definition at line 6251 of file CanBusMotionControl.cpp.

◆ getMotorEncoderAccelerationsRaw()

bool CanBusMotionControl::getMotorEncoderAccelerationsRaw ( double *  accs)
overridevirtual

Definition at line 6238 of file CanBusMotionControl.cpp.

◆ getMotorEncoderCountsPerRevolutionRaw()

bool CanBusMotionControl::getMotorEncoderCountsPerRevolutionRaw ( int  m,
double *  cpr 
)
overridevirtual

Definition at line 6191 of file CanBusMotionControl.cpp.

◆ getMotorEncoderRaw()

bool CanBusMotionControl::getMotorEncoderRaw ( int  m,
double *  v 
)
overridevirtual

Definition at line 6150 of file CanBusMotionControl.cpp.

◆ getMotorEncoderSpeedRaw()

bool CanBusMotionControl::getMotorEncoderSpeedRaw ( int  m,
double *  sp 
)
overridevirtual

Definition at line 6227 of file CanBusMotionControl.cpp.

◆ getMotorEncoderSpeedsRaw()

bool CanBusMotionControl::getMotorEncoderSpeedsRaw ( double *  spds)
overridevirtual

Definition at line 6215 of file CanBusMotionControl.cpp.

◆ getMotorEncodersRaw()

bool CanBusMotionControl::getMotorEncodersRaw ( double *  encs)
overridevirtual

Definition at line 6131 of file CanBusMotionControl.cpp.

◆ getMotorEncodersTimedRaw()

bool CanBusMotionControl::getMotorEncodersTimedRaw ( double *  v,
double *  t 
)
overridevirtual

Definition at line 6160 of file CanBusMotionControl.cpp.

◆ getMotorEncoderTimedRaw()

bool CanBusMotionControl::getMotorEncoderTimedRaw ( int  m,
double *  v,
double *  t 
)
overridevirtual

Definition at line 6180 of file CanBusMotionControl.cpp.

◆ getMotorTorqueParamsRaw()

bool CanBusMotionControl::getMotorTorqueParamsRaw ( int  j,
MotorTorqueParameters *  params 
)
overridevirtual

Definition at line 5782 of file CanBusMotionControl.cpp.

◆ getNominalCurrentRaw()

bool CanBusMotionControl::getNominalCurrentRaw ( int  m,
double *  val 
)
overridevirtual

Definition at line 6359 of file CanBusMotionControl.cpp.

◆ getNumberOfMotorEncodersRaw()

bool CanBusMotionControl::getNumberOfMotorEncodersRaw ( int *  num)
overridevirtual

Definition at line 6201 of file CanBusMotionControl.cpp.

◆ getNumberOfMotorsRaw()

bool CanBusMotionControl::getNumberOfMotorsRaw ( int *  m)
overridevirtual

IMotor.

Definition at line 6208 of file CanBusMotionControl.cpp.

◆ getParameterRaw()

bool CanBusMotionControl::getParameterRaw ( int  j,
unsigned int  type,
double *  value 
)
virtual

Definition at line 5062 of file CanBusMotionControl.cpp.

◆ getPeakCurrentRaw()

bool CanBusMotionControl::getPeakCurrentRaw ( int  m,
double *  val 
)
overridevirtual

Definition at line 6349 of file CanBusMotionControl.cpp.

◆ getPidErrorLimitRaw()

bool CanBusMotionControl::getPidErrorLimitRaw ( const PidControlTypeEnum &  pidtype,
int  j,
double *  limit 
)
overridevirtual

Definition at line 5334 of file CanBusMotionControl.cpp.

◆ getPidErrorLimitsRaw()

bool CanBusMotionControl::getPidErrorLimitsRaw ( const PidControlTypeEnum &  pidtype,
double *  limits 
)
overridevirtual

Definition at line 5339 of file CanBusMotionControl.cpp.

◆ getPidErrorRaw()

bool CanBusMotionControl::getPidErrorRaw ( const PidControlTypeEnum &  pidtype,
int  j,
double *  err 
)
overridevirtual

Definition at line 4933 of file CanBusMotionControl.cpp.

◆ getPidErrorsRaw()

bool CanBusMotionControl::getPidErrorsRaw ( const PidControlTypeEnum &  pidtype,
double *  errs 
)
overridevirtual

Definition at line 5052 of file CanBusMotionControl.cpp.

◆ getPidOutputRaw()

bool CanBusMotionControl::getPidOutputRaw ( const PidControlTypeEnum &  pidtype,
int  j,
double *  out 
)
overridevirtual

Definition at line 5410 of file CanBusMotionControl.cpp.

◆ getPidOutputsRaw()

bool CanBusMotionControl::getPidOutputsRaw ( const PidControlTypeEnum &  pidtype,
double *  outs 
)
overridevirtual

Definition at line 5438 of file CanBusMotionControl.cpp.

◆ getPidRaw()

bool CanBusMotionControl::getPidRaw ( const PidControlTypeEnum &  pidtype,
int  j,
Pid *  pid 
)
overridevirtual

Definition at line 4561 of file CanBusMotionControl.cpp.

◆ getPidReferenceRaw()

bool CanBusMotionControl::getPidReferenceRaw ( const PidControlTypeEnum &  pidtype,
int  j,
double *  ref 
)
overridevirtual

Definition at line 5274 of file CanBusMotionControl.cpp.

◆ getPidReferencesRaw()

bool CanBusMotionControl::getPidReferencesRaw ( const PidControlTypeEnum &  pidtype,
double *  refs 
)
overridevirtual

Definition at line 5321 of file CanBusMotionControl.cpp.

◆ getPidsRaw()

bool CanBusMotionControl::getPidsRaw ( const PidControlTypeEnum &  pidtype,
Pid *  pids 
)
overridevirtual

Definition at line 4588 of file CanBusMotionControl.cpp.

◆ getPowerSupplyVoltageRaw()

bool CanBusMotionControl::getPowerSupplyVoltageRaw ( int  j,
double *  val 
)
overridevirtual

Definition at line 6393 of file CanBusMotionControl.cpp.

◆ getPWMLimitRaw()

bool CanBusMotionControl::getPWMLimitRaw ( int  j,
double *  val 
)
overridevirtual

Definition at line 6374 of file CanBusMotionControl.cpp.

◆ getPWMRaw()

bool CanBusMotionControl::getPWMRaw ( int  j,
double *  val 
)
overridevirtual

Definition at line 6369 of file CanBusMotionControl.cpp.

◆ getRefAccelerationRaw()

bool CanBusMotionControl::getRefAccelerationRaw ( int  j,
double *  acc 
)
overridevirtual

cmd is an array of double (LATER: to be optimized).

Definition at line 5726 of file CanBusMotionControl.cpp.

◆ getRefAccelerationsRaw() [1/2]

bool CanBusMotionControl::getRefAccelerationsRaw ( const int  n_joint,
const int *  joints,
double *  accs 
)
overridevirtual

Definition at line 6575 of file CanBusMotionControl.cpp.

◆ getRefAccelerationsRaw() [2/2]

bool CanBusMotionControl::getRefAccelerationsRaw ( double *  accs)
overridevirtual

cmd is an array of double (LATER: to be optimized).

Definition at line 5705 of file CanBusMotionControl.cpp.

◆ getRefCurrentRaw()

bool CanBusMotionControl::getRefCurrentRaw ( int  j,
double *  t 
)
overridevirtual

Definition at line 7550 of file CanBusMotionControl.cpp.

◆ getRefCurrentsRaw()

bool CanBusMotionControl::getRefCurrentsRaw ( double *  t)
overridevirtual

Definition at line 7545 of file CanBusMotionControl.cpp.

◆ getRefDutyCycleRaw()

bool CanBusMotionControl::getRefDutyCycleRaw ( int  j,
double *  v 
)
overridevirtual

Definition at line 7457 of file CanBusMotionControl.cpp.

◆ getRefDutyCyclesRaw()

bool CanBusMotionControl::getRefDutyCyclesRaw ( double *  v)
overridevirtual

Definition at line 7472 of file CanBusMotionControl.cpp.

◆ getRefPositionRaw()

bool CanBusMotionControl::getRefPositionRaw ( const int  joint,
double *  ref 
)
overridevirtual

Definition at line 5022 of file CanBusMotionControl.cpp.

◆ getRefPositionsRaw() [1/2]

bool CanBusMotionControl::getRefPositionsRaw ( const int  n_joint,
const int *  joints,
double *  refs 
)
overridevirtual

Definition at line 5042 of file CanBusMotionControl.cpp.

◆ getRefPositionsRaw() [2/2]

bool CanBusMotionControl::getRefPositionsRaw ( double *  refs)
overridevirtual

Definition at line 5031 of file CanBusMotionControl.cpp.

◆ getRefSpeedRaw()

bool CanBusMotionControl::getRefSpeedRaw ( int  j,
double *  ref 
)
overridevirtual

Definition at line 5695 of file CanBusMotionControl.cpp.

◆ getRefSpeedsRaw() [1/2]

bool CanBusMotionControl::getRefSpeedsRaw ( const int  n_joint,
const int *  joints,
double *  spds 
)
overridevirtual

Definition at line 6565 of file CanBusMotionControl.cpp.

◆ getRefSpeedsRaw() [2/2]

bool CanBusMotionControl::getRefSpeedsRaw ( double *  spds)
overridevirtual

cmd is an array of double (LATER: to be optimized).

Definition at line 5683 of file CanBusMotionControl.cpp.

◆ getRefTorqueRaw()

bool CanBusMotionControl::getRefTorqueRaw ( int  j,
double *  ref_trq 
)
overridevirtual

TORQUE CONTROL INTERFACE RAW.

cmd is an array of double (LATER: to be optimized).

Definition at line 5764 of file CanBusMotionControl.cpp.

◆ getRefTorquesRaw()

bool CanBusMotionControl::getRefTorquesRaw ( double *  ref_trqs)
overridevirtual

cmd is an array of double (LATER: to be optimized).

Definition at line 5745 of file CanBusMotionControl.cpp.

◆ getRefVelocitiesRaw() [1/2]

bool CanBusMotionControl::getRefVelocitiesRaw ( const int  n_joint,
const int *  joints,
double *  refs 
)
overridevirtual

Definition at line 5012 of file CanBusMotionControl.cpp.

◆ getRefVelocitiesRaw() [2/2]

bool CanBusMotionControl::getRefVelocitiesRaw ( double *  refs)
overridevirtual

Definition at line 5001 of file CanBusMotionControl.cpp.

◆ getRefVelocityRaw()

bool CanBusMotionControl::getRefVelocityRaw ( const int  joint,
double *  ref 
)
overridevirtual

Definition at line 4991 of file CanBusMotionControl.cpp.

◆ getRemoteVariableRaw()

bool CanBusMotionControl::getRemoteVariableRaw ( std::string  key,
yarp::os::Bottle &  val 
)
overridevirtual

Definition at line 4146 of file CanBusMotionControl.cpp.

◆ getRemoteVariablesListRaw()

bool CanBusMotionControl::getRemoteVariablesListRaw ( yarp::os::Bottle *  listOfKeys)
overridevirtual

Definition at line 4138 of file CanBusMotionControl.cpp.

◆ getTargetPositionRaw()

bool CanBusMotionControl::getTargetPositionRaw ( const int  joint,
double *  ref 
)
overridevirtual

Definition at line 4960 of file CanBusMotionControl.cpp.

◆ getTargetPositionsRaw() [1/2]

bool CanBusMotionControl::getTargetPositionsRaw ( const int  n_joint,
const int *  joints,
double *  refs 
)
overridevirtual

Definition at line 4981 of file CanBusMotionControl.cpp.

◆ getTargetPositionsRaw() [2/2]

bool CanBusMotionControl::getTargetPositionsRaw ( double *  refs)
overridevirtual

Definition at line 4970 of file CanBusMotionControl.cpp.

◆ getTemperatureLimitRaw()

bool CanBusMotionControl::getTemperatureLimitRaw ( int  m,
double *  temp 
)
overridevirtual

Definition at line 6339 of file CanBusMotionControl.cpp.

◆ getTemperatureRaw()

bool CanBusMotionControl::getTemperatureRaw ( int  m,
double *  val 
)
overridevirtual

Definition at line 6329 of file CanBusMotionControl.cpp.

◆ getTemperaturesRaw()

bool CanBusMotionControl::getTemperaturesRaw ( double *  vals)
overridevirtual

Definition at line 6334 of file CanBusMotionControl.cpp.

◆ getTorqueRangeRaw()

bool CanBusMotionControl::getTorqueRangeRaw ( int  j,
double *  min,
double *  max 
)
overridevirtual

Definition at line 4890 of file CanBusMotionControl.cpp.

◆ getTorqueRangesRaw()

bool CanBusMotionControl::getTorqueRangesRaw ( double *  min,
double *  max 
)
overridevirtual

Definition at line 4928 of file CanBusMotionControl.cpp.

◆ getTorqueRaw()

bool CanBusMotionControl::getTorqueRaw ( int  j,
double *  trq 
)
overridevirtual

cmd is a SingleAxis pointer with 1 double arg

Definition at line 4849 of file CanBusMotionControl.cpp.

◆ getTorquesRaw()

bool CanBusMotionControl::getTorquesRaw ( double *  trqs)
overridevirtual

cmd is an array of double (LATER: to be optimized).

Definition at line 4879 of file CanBusMotionControl.cpp.

◆ getVelLimitsRaw()

bool CanBusMotionControl::getVelLimitsRaw ( int  axis,
double *  min,
double *  max 
)
overridevirtual

Definition at line 6646 of file CanBusMotionControl.cpp.

◆ helper_getCurPidRaw()

bool CanBusMotionControl::helper_getCurPidRaw ( int  j,
Pid *  pid 
)

Definition at line 6616 of file CanBusMotionControl.cpp.

◆ helper_getPosPidRaw()

bool CanBusMotionControl::helper_getPosPidRaw ( int  j,
Pid *  pid 
)

Definition at line 4531 of file CanBusMotionControl.cpp.

◆ helper_getTrqPidRaw()

bool CanBusMotionControl::helper_getTrqPidRaw ( int  j,
Pid *  pid 
)

Definition at line 4646 of file CanBusMotionControl.cpp.

◆ helper_getVelPidRaw()

bool CanBusMotionControl::helper_getVelPidRaw ( int  j,
Pid *  pid 
)

Definition at line 6627 of file CanBusMotionControl.cpp.

◆ helper_setCurPidRaw()

bool CanBusMotionControl::helper_setCurPidRaw ( int  j,
const Pid &  pid 
)

Definition at line 6611 of file CanBusMotionControl.cpp.

◆ helper_setPosPidRaw()

bool CanBusMotionControl::helper_setPosPidRaw ( int  j,
const Pid &  pid 
)

Definition at line 4278 of file CanBusMotionControl.cpp.

◆ helper_setTrqPidRaw()

bool CanBusMotionControl::helper_setTrqPidRaw ( int  j,
const Pid &  pid 
)

prepare Can message.

Definition at line 4601 of file CanBusMotionControl.cpp.

◆ helper_setVelPidRaw()

bool CanBusMotionControl::helper_setVelPidRaw ( int  j,
const Pid &  pid 
)

Definition at line 6622 of file CanBusMotionControl.cpp.

◆ isPidEnabledRaw()

bool CanBusMotionControl::isPidEnabledRaw ( const PidControlTypeEnum &  pidtype,
int  j,
bool *  enabled 
)
virtual

Definition at line 6711 of file CanBusMotionControl.cpp.

◆ loadBootMemory()

bool CanBusMotionControl::loadBootMemory ( )
virtual

Definition at line 6716 of file CanBusMotionControl.cpp.

◆ open() [1/2]

bool yarp::dev::CanBusMotionControl::open ( const CanBusMotionControlParameters par)

Open the device driver.

Parameters
paris the parameter structure
Returns
true/false on success/failure.

◆ open() [2/2]

virtual bool yarp::dev::CanBusMotionControl::open ( yarp::os::Searchable &  config)
virtual

Open the device driver and start communication with the hardware.

Parameters
configis a Searchable object containing the list of parameters.
Returns
true on success/failure.

◆ positionMoveRaw() [1/3]

bool CanBusMotionControl::positionMoveRaw ( const double *  refs)
overridevirtual

Definition at line 5498 of file CanBusMotionControl.cpp.

◆ positionMoveRaw() [2/3]

bool CanBusMotionControl::positionMoveRaw ( const int  n_joint,
const int *  joints,
const double *  refs 
)
overridevirtual

Definition at line 6511 of file CanBusMotionControl.cpp.

◆ positionMoveRaw() [3/3]

bool CanBusMotionControl::positionMoveRaw ( int  j,
double  ref 
)
overridevirtual

prepare can message.

pos

speed

Definition at line 5453 of file CanBusMotionControl.cpp.

◆ relativeMoveRaw() [1/3]

bool CanBusMotionControl::relativeMoveRaw ( const double *  deltas)
overridevirtual

Definition at line 5517 of file CanBusMotionControl.cpp.

◆ relativeMoveRaw() [2/3]

bool CanBusMotionControl::relativeMoveRaw ( const int  n_joint,
const int *  joints,
const double *  deltas 
)
overridevirtual

Definition at line 6521 of file CanBusMotionControl.cpp.

◆ relativeMoveRaw() [3/3]

bool CanBusMotionControl::relativeMoveRaw ( int  j,
double  delta 
)
overridevirtual

Definition at line 5512 of file CanBusMotionControl.cpp.

◆ resetEncoderRaw()

bool CanBusMotionControl::resetEncoderRaw ( int  j)
overridevirtual

Definition at line 6001 of file CanBusMotionControl.cpp.

◆ resetEncodersRaw()

bool CanBusMotionControl::resetEncodersRaw ( )
overridevirtual

Definition at line 6006 of file CanBusMotionControl.cpp.

◆ resetMotorEncoderRaw()

bool CanBusMotionControl::resetMotorEncoderRaw ( int  m)
overridevirtual

Definition at line 6121 of file CanBusMotionControl.cpp.

◆ resetMotorEncodersRaw()

bool CanBusMotionControl::resetMotorEncodersRaw ( )
overridevirtual

Definition at line 6126 of file CanBusMotionControl.cpp.

◆ resetPidRaw()

bool CanBusMotionControl::resetPidRaw ( const PidControlTypeEnum &  pidtype,
int  j 
)
overridevirtual

Definition at line 5354 of file CanBusMotionControl.cpp.

◆ run()

void CanBusMotionControl::run ( void  )
protectedvirtual

reports board errors

class 0 msg.

legitimate message directed here, checks whether replies to any message.

Definition at line 3475 of file CanBusMotionControl.cpp.

◆ S_16()

short yarp::dev::CanBusMotionControl::S_16 ( double  x) const
inlineprotected

Definition at line 1183 of file CanBusMotionControl.h.

◆ S_32()

int yarp::dev::CanBusMotionControl::S_32 ( double  x) const
inlineprotected

Definition at line 1197 of file CanBusMotionControl.h.

◆ saveBootMemory()

bool CanBusMotionControl::saveBootMemory ( )
virtual

Definition at line 6731 of file CanBusMotionControl.cpp.

◆ setBCastMessages()

bool CanBusMotionControl::setBCastMessages ( int  axis,
unsigned int  v 
)
protected

sets the broadcast policy for a given board (don't need to be called twice).

the parameter is a 32-bit integer: bit X = 1 -> message X = active e.g. 0x02 activates the broadcast of position information 0x04 activates the broadcast of velocity ...

Definition at line 6751 of file CanBusMotionControl.cpp.

◆ setCalibrationParametersRaw()

bool CanBusMotionControl::setCalibrationParametersRaw ( int  j,
const CalibrationParameters &  params 
)
overridevirtual

Definition at line 5614 of file CanBusMotionControl.cpp.

◆ setControlModeRaw()

bool CanBusMotionControl::setControlModeRaw ( const int  j,
const int  mode 
)
overridevirtual

Definition at line 4057 of file CanBusMotionControl.cpp.

◆ setControlModesRaw() [1/2]

bool CanBusMotionControl::setControlModesRaw ( const int  n_joint,
const int *  joints,
int *  modes 
)
overridevirtual

Definition at line 4098 of file CanBusMotionControl.cpp.

◆ setControlModesRaw() [2/2]

bool CanBusMotionControl::setControlModesRaw ( int *  modes)
overridevirtual

Definition at line 4228 of file CanBusMotionControl.cpp.

◆ setDebugParameterRaw()

bool CanBusMotionControl::setDebugParameterRaw ( int  j,
unsigned int  index,
double  value 
)
virtual

Definition at line 5382 of file CanBusMotionControl.cpp.

◆ setDebugReferencePositionRaw()

bool CanBusMotionControl::setDebugReferencePositionRaw ( int  j,
double  value 
)
virtual

Definition at line 5401 of file CanBusMotionControl.cpp.

◆ setEncoderRaw()

bool CanBusMotionControl::setEncoderRaw ( int  j,
double  val 
)
overridevirtual

Definition at line 5978 of file CanBusMotionControl.cpp.

◆ setEncodersRaw()

bool CanBusMotionControl::setEncodersRaw ( const double *  vals)
overridevirtual

Definition at line 5987 of file CanBusMotionControl.cpp.

◆ setFilterTypeRaw()

bool CanBusMotionControl::setFilterTypeRaw ( int  j,
int  type 
)

prepare Can message.

Definition at line 5854 of file CanBusMotionControl.cpp.

◆ setImpedanceOffsetRaw()

bool CanBusMotionControl::setImpedanceOffsetRaw ( int  j,
double  offs 
)
overridevirtual

Definition at line 4510 of file CanBusMotionControl.cpp.

◆ setImpedanceRaw()

bool CanBusMotionControl::setImpedanceRaw ( int  j,
double  stiff,
double  damp 
)
overridevirtual

Definition at line 4457 of file CanBusMotionControl.cpp.

◆ setInteractionModeRaw()

bool CanBusMotionControl::setInteractionModeRaw ( int  axis,
yarp::dev::InteractionModeEnum  mode 
)
overridevirtual

Definition at line 7390 of file CanBusMotionControl.cpp.

◆ setInteractionModesRaw() [1/2]

bool CanBusMotionControl::setInteractionModesRaw ( int  n_joints,
int *  joints,
yarp::dev::InteractionModeEnum *  modes 
)
overridevirtual

Definition at line 7405 of file CanBusMotionControl.cpp.

◆ setInteractionModesRaw() [2/2]

bool CanBusMotionControl::setInteractionModesRaw ( yarp::dev::InteractionModeEnum *  modes)
overridevirtual

Definition at line 7418 of file CanBusMotionControl.cpp.

◆ setLimitsRaw()

bool CanBusMotionControl::setLimitsRaw ( int  axis,
double  min,
double  max 
)
overridevirtual

Definition at line 6476 of file CanBusMotionControl.cpp.

◆ setMaxCurrentRaw()

bool CanBusMotionControl::setMaxCurrentRaw ( int  j,
double  val 
)
overridevirtual

Definition at line 6299 of file CanBusMotionControl.cpp.

◆ setMotorEncoderCountsPerRevolutionRaw()

bool CanBusMotionControl::setMotorEncoderCountsPerRevolutionRaw ( int  m,
const double  cpr 
)
overridevirtual

Definition at line 6196 of file CanBusMotionControl.cpp.

◆ setMotorEncoderRaw()

bool CanBusMotionControl::setMotorEncoderRaw ( int  m,
const double  val 
)
overridevirtual

Definition at line 6111 of file CanBusMotionControl.cpp.

◆ setMotorEncodersRaw()

bool CanBusMotionControl::setMotorEncodersRaw ( const double *  vals)
overridevirtual

Definition at line 6116 of file CanBusMotionControl.cpp.

◆ setMotorTorqueParamsRaw()

bool CanBusMotionControl::setMotorTorqueParamsRaw ( int  j,
const MotorTorqueParameters  params 
)
overridevirtual

prepare Can message.

Definition at line 5873 of file CanBusMotionControl.cpp.

◆ setNominalCurrentRaw()

bool CanBusMotionControl::setNominalCurrentRaw ( int  m,
const double  val 
)
overridevirtual

Definition at line 6364 of file CanBusMotionControl.cpp.

◆ setParameterRaw()

bool CanBusMotionControl::setParameterRaw ( int  j,
unsigned int  type,
double  value 
)
virtual

Definition at line 5373 of file CanBusMotionControl.cpp.

◆ setPeakCurrentRaw()

bool CanBusMotionControl::setPeakCurrentRaw ( int  m,
const double  val 
)
overridevirtual

Definition at line 6354 of file CanBusMotionControl.cpp.

◆ setPidErrorLimitRaw()

bool CanBusMotionControl::setPidErrorLimitRaw ( const PidControlTypeEnum &  pidtype,
int  j,
double  limit 
)
overridevirtual

Definition at line 5344 of file CanBusMotionControl.cpp.

◆ setPidErrorLimitsRaw()

bool CanBusMotionControl::setPidErrorLimitsRaw ( const PidControlTypeEnum &  pidtype,
const double *  limits 
)
overridevirtual

Definition at line 5349 of file CanBusMotionControl.cpp.

◆ setPidOffsetRaw()

bool CanBusMotionControl::setPidOffsetRaw ( const PidControlTypeEnum &  pidtype,
int  j,
double  v 
)
overridevirtual

Definition at line 5364 of file CanBusMotionControl.cpp.

◆ setPidRaw()

bool CanBusMotionControl::setPidRaw ( const PidControlTypeEnum &  pidtype,
int  j,
const Pid &  pid 
)
overridevirtual

Definition at line 4293 of file CanBusMotionControl.cpp.

◆ setPidReferenceRaw()

bool CanBusMotionControl::setPidReferenceRaw ( const PidControlTypeEnum &  pidtype,
int  j,
double  ref 
)
overridevirtual

cmd is a SingleAxis poitner with 1 double arg

Definition at line 4806 of file CanBusMotionControl.cpp.

◆ setPidReferencesRaw()

bool CanBusMotionControl::setPidReferencesRaw ( const PidControlTypeEnum &  pidtype,
const double *  refs 
)
overridevirtual

cmd is an array of double (LATER: to be optimized).

Definition at line 4812 of file CanBusMotionControl.cpp.

◆ setPidsRaw()

bool CanBusMotionControl::setPidsRaw ( const PidControlTypeEnum &  pidtype,
const Pid *  pids 
)
overridevirtual

Definition at line 4791 of file CanBusMotionControl.cpp.

◆ setPositionRaw()

bool CanBusMotionControl::setPositionRaw ( int  j,
double  ref 
)
overridevirtual

Definition at line 6657 of file CanBusMotionControl.cpp.

◆ setPositionsRaw() [1/2]

bool CanBusMotionControl::setPositionsRaw ( const double *  refs)
overridevirtual

Definition at line 6698 of file CanBusMotionControl.cpp.

◆ setPositionsRaw() [2/2]

bool CanBusMotionControl::setPositionsRaw ( const int  n_joint,
const int *  joints,
const double *  refs 
)
overridevirtual

Definition at line 6685 of file CanBusMotionControl.cpp.

◆ setPrintFunction()

bool CanBusMotionControl::setPrintFunction ( int(*)(const char *fmt,...)  f)
virtual

IControlDebug Interface.

Definition at line 6444 of file CanBusMotionControl.cpp.

◆ setPWMLimitRaw()

bool CanBusMotionControl::setPWMLimitRaw ( int  j,
const double  val 
)
overridevirtual

Definition at line 6385 of file CanBusMotionControl.cpp.

◆ setRefAccelerationRaw()

bool CanBusMotionControl::setRefAccelerationRaw ( int  j,
double  acc 
)
overridevirtual

Definition at line 5640 of file CanBusMotionControl.cpp.

◆ setRefAccelerationsRaw() [1/2]

bool CanBusMotionControl::setRefAccelerationsRaw ( const double *  accs)
overridevirtual

Definition at line 5658 of file CanBusMotionControl.cpp.

◆ setRefAccelerationsRaw() [2/2]

bool CanBusMotionControl::setRefAccelerationsRaw ( const int  n_joint,
const int *  joints,
const double *  accs 
)
overridevirtual

Definition at line 6555 of file CanBusMotionControl.cpp.

◆ setRefCurrentRaw()

bool CanBusMotionControl::setRefCurrentRaw ( int  j,
double  t 
)
overridevirtual

Definition at line 7535 of file CanBusMotionControl.cpp.

◆ setRefCurrentsRaw() [1/2]

bool CanBusMotionControl::setRefCurrentsRaw ( const double *  t)
overridevirtual

Definition at line 7530 of file CanBusMotionControl.cpp.

◆ setRefCurrentsRaw() [2/2]

bool CanBusMotionControl::setRefCurrentsRaw ( const int  n_joint,
const int *  joints,
const double *  t 
)
overridevirtual

Definition at line 7540 of file CanBusMotionControl.cpp.

◆ setRefDutyCycleRaw()

bool CanBusMotionControl::setRefDutyCycleRaw ( int  j,
double  v 
)
overridevirtual

Definition at line 7436 of file CanBusMotionControl.cpp.

◆ setRefDutyCyclesRaw()

bool CanBusMotionControl::setRefDutyCyclesRaw ( const double *  v)
overridevirtual

Definition at line 7444 of file CanBusMotionControl.cpp.

◆ setRefSpeedRaw()

bool CanBusMotionControl::setRefSpeedRaw ( int  j,
double  sp 
)
overridevirtual

Definition at line 5619 of file CanBusMotionControl.cpp.

◆ setRefSpeedsRaw() [1/2]

bool CanBusMotionControl::setRefSpeedsRaw ( const double *  spds)
overridevirtual

Definition at line 5629 of file CanBusMotionControl.cpp.

◆ setRefSpeedsRaw() [2/2]

bool CanBusMotionControl::setRefSpeedsRaw ( const int  n_joint,
const int *  joints,
const double *  spds 
)
overridevirtual

Definition at line 6545 of file CanBusMotionControl.cpp.

◆ setRefTorqueRaw()

bool CanBusMotionControl::setRefTorqueRaw ( int  j,
double  ref_trq 
)
overridevirtual

cmd is a SingleAxis poitner with 1 double arg

Definition at line 4828 of file CanBusMotionControl.cpp.

◆ setRefTorquesRaw() [1/2]

bool CanBusMotionControl::setRefTorquesRaw ( const double *  ref_trqs)
overridevirtual

cmd is an array of double (LATER: to be optimized).

Definition at line 4863 of file CanBusMotionControl.cpp.

◆ setRefTorquesRaw() [2/2]

bool CanBusMotionControl::setRefTorquesRaw ( const int  n_joint,
const int *  joints,
const double *  t 
)
overridevirtual

Definition at line 4838 of file CanBusMotionControl.cpp.

◆ setRemoteVariableRaw()

bool CanBusMotionControl::setRemoteVariableRaw ( std::string  key,
const yarp::os::Bottle &  val 
)
overridevirtual

Definition at line 4164 of file CanBusMotionControl.cpp.

◆ setServerLogger()

void yarp::dev::CanBusMotionControl::setServerLogger ( const IServerLogger server)
inlinevirtual

Implements yarp::dev::IClientLogger.

Definition at line 793 of file CanBusMotionControl.h.

◆ setSpeedEstimatorShiftRaw()

bool CanBusMotionControl::setSpeedEstimatorShiftRaw ( int  j,
double  jnt_speed,
double  jnt_acc,
double  mot_speed,
double  mot_acc 
)

Definition at line 6398 of file CanBusMotionControl.cpp.

◆ setTemperatureLimitRaw()

bool CanBusMotionControl::setTemperatureLimitRaw ( int  m,
const double  temp 
)
overridevirtual

Definition at line 6344 of file CanBusMotionControl.cpp.

◆ setTorqueSource()

bool CanBusMotionControl::setTorqueSource ( int  axis,
char  board_id,
char  board_chan 
)
virtual

Definition at line 4483 of file CanBusMotionControl.cpp.

◆ setVelLimitsRaw()

bool CanBusMotionControl::setVelLimitsRaw ( int  axis,
double  min,
double  max 
)
overridevirtual

Definition at line 6636 of file CanBusMotionControl.cpp.

◆ setVelocityShiftRaw()

bool CanBusMotionControl::setVelocityShiftRaw ( int  j,
double  val 
)

Definition at line 6321 of file CanBusMotionControl.cpp.

◆ setVelocityTimeoutRaw()

bool CanBusMotionControl::setVelocityTimeoutRaw ( int  j,
double  val 
)

Definition at line 6416 of file CanBusMotionControl.cpp.

◆ stopRaw() [1/3]

bool CanBusMotionControl::stopRaw ( )
overridevirtual

Definition at line 5903 of file CanBusMotionControl.cpp.

◆ stopRaw() [2/3]

bool CanBusMotionControl::stopRaw ( const int  n_joint,
const int *  joints 
)
overridevirtual

Definition at line 6585 of file CanBusMotionControl.cpp.

◆ stopRaw() [3/3]

bool CanBusMotionControl::stopRaw ( int  j)
overridevirtual

Definition at line 5896 of file CanBusMotionControl.cpp.

◆ threadInit()

bool CanBusMotionControl::threadInit ( )
protectedvirtual

Definition at line 3450 of file CanBusMotionControl.cpp.

◆ threadRelease()

void CanBusMotionControl::threadRelease ( )
protectedvirtual

Definition at line 3470 of file CanBusMotionControl.cpp.

◆ velocityMoveRaw() [1/3]

bool CanBusMotionControl::velocityMoveRaw ( const double *  sp)
overridevirtual

cmd is an array of double of length njoints specifying speed for each axis

Definition at line 5965 of file CanBusMotionControl.cpp.

◆ velocityMoveRaw() [2/3]

bool CanBusMotionControl::velocityMoveRaw ( const int  n_joint,
const int *  joints,
const double *  spds 
)
overridevirtual

Definition at line 6601 of file CanBusMotionControl.cpp.

◆ velocityMoveRaw() [3/3]

bool CanBusMotionControl::velocityMoveRaw ( int  j,
double  sp 
)
overridevirtual

Velocity control interface raw.

cmd is an array of double of length njoints specifying speed for each axis

prepare can message.

speed

accel

Definition at line 5919 of file CanBusMotionControl.cpp.

Member Data Documentation

◆ _axisImpedanceHelper

axisImpedanceHelper* yarp::dev::CanBusMotionControl::_axisImpedanceHelper
protected

Definition at line 1158 of file CanBusMotionControl.h.

◆ _axisPositionDirectHelper

axisPositionDirectHelper* yarp::dev::CanBusMotionControl::_axisPositionDirectHelper
protected

Definition at line 1161 of file CanBusMotionControl.h.

◆ _axisTorqueHelper

axisTorqueHelper* yarp::dev::CanBusMotionControl::_axisTorqueHelper
protected

Definition at line 1157 of file CanBusMotionControl.h.

◆ _filter

int yarp::dev::CanBusMotionControl::_filter
protected

filter for recurrent messages.

Definition at line 1130 of file CanBusMotionControl.h.

◆ _firmwareVersionHelper

firmwareVersionHelper* yarp::dev::CanBusMotionControl::_firmwareVersionHelper
protected

Definition at line 1159 of file CanBusMotionControl.h.

◆ _last_position_move_time

double* yarp::dev::CanBusMotionControl::_last_position_move_time
protected

Definition at line 1178 of file CanBusMotionControl.h.

◆ _max_vel_jnt_cmd

double* yarp::dev::CanBusMotionControl::_max_vel_jnt_cmd
protected

Definition at line 1175 of file CanBusMotionControl.h.

◆ _MCtorqueControlEnabled

bool yarp::dev::CanBusMotionControl::_MCtorqueControlEnabled
protected

Definition at line 1176 of file CanBusMotionControl.h.

◆ _mutex

std::recursive_mutex yarp::dev::CanBusMotionControl::_mutex
protected

Definition at line 1119 of file CanBusMotionControl.h.

◆ _noreply

bool yarp::dev::CanBusMotionControl::_noreply
protected

Definition at line 1123 of file CanBusMotionControl.h.

◆ _opened

bool yarp::dev::CanBusMotionControl::_opened
protected

Definition at line 1124 of file CanBusMotionControl.h.

◆ _ref_accs

double* yarp::dev::CanBusMotionControl::_ref_accs
protected

Definition at line 1171 of file CanBusMotionControl.h.

◆ _ref_command_positions

double* yarp::dev::CanBusMotionControl::_ref_command_positions
protected

Definition at line 1173 of file CanBusMotionControl.h.

◆ _ref_command_speeds

double* yarp::dev::CanBusMotionControl::_ref_command_speeds
protected

Definition at line 1170 of file CanBusMotionControl.h.

◆ _ref_positions

double* yarp::dev::CanBusMotionControl::_ref_positions
protected

Definition at line 1174 of file CanBusMotionControl.h.

◆ _ref_speeds

double* yarp::dev::CanBusMotionControl::_ref_speeds
protected

Definition at line 1169 of file CanBusMotionControl.h.

◆ _ref_torques

double* yarp::dev::CanBusMotionControl::_ref_torques
protected

Definition at line 1172 of file CanBusMotionControl.h.

◆ _speedEstimationHelper

speedEstimationHelper* yarp::dev::CanBusMotionControl::_speedEstimationHelper
protected

Definition at line 1160 of file CanBusMotionControl.h.

◆ _writerequested

bool yarp::dev::CanBusMotionControl::_writerequested
protected

Definition at line 1122 of file CanBusMotionControl.h.

◆ canController

ICanBus* yarp::dev::CanBusMotionControl::canController
protected

Definition at line 1120 of file CanBusMotionControl.h.

◆ system_resources

void* yarp::dev::CanBusMotionControl::system_resources
protected

Definition at line 1118 of file CanBusMotionControl.h.

◆ threadPool

ThreadPool2* yarp::dev::CanBusMotionControl::threadPool
protected

Definition at line 1125 of file CanBusMotionControl.h.


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