#include <ControlBoardWrapper/ControlBoardWrapperMotorEncoders.h>

Inheritance diagram for ControlBoardWrapperMotorEncoders:

Public Member Functions
bool	getNumberOfMotorEncoders (int *num) override
	Get the number of available motor encoders. More...

bool	resetMotorEncoder (int m) override
	Reset motor encoder, single motor. More...

bool	resetMotorEncoders () override
	Reset motor encoders. More...

bool	setMotorEncoderCountsPerRevolution (int m, const double cpr) override
	Sets number of counts per revolution for motor encoder m. More...

bool	getMotorEncoderCountsPerRevolution (int m, double *cpr) override
	Gets number of counts per revolution for motor encoder m. More...

bool	setMotorEncoder (int m, const double val) override
	Set the value of the motor encoder for a given motor. More...

bool	setMotorEncoders (const double *vals) override
	Set the value of all motor encoders. More...

bool	getMotorEncoder (int m, double *v) override
	Read the value of a motor encoder. More...

bool	getMotorEncoders (double *encs) override
	Read the position of all motor encoders. More...

bool	getMotorEncodersTimed (double encs, double t) override
	Read the instantaneous position of all motor encoders. More...

bool	getMotorEncoderTimed (int m, double v, double t) override
	Read the instantaneous position of a motor encoder. More...

bool	getMotorEncoderSpeed (int m, double *sp) override
	Read the istantaneous speed of a motor encoder. More...

bool	getMotorEncoderSpeeds (double *spds) override
	Read the instantaneous speed of all motor encoders. More...

bool	getMotorEncoderAcceleration (int m, double *acc) override
	Read the instantaneous acceleration of a motor encoder. More...

bool	getMotorEncoderAccelerations (double *accs) override
	Read the instantaneous acceleration of all motor encoders. More...

Public Member Functions inherited from ControlBoardWrapperCommon
bool	getAxes (int *ax)

bool	setRefAcceleration (int j, double acc)

bool	setRefAccelerations (const double *accs)

bool	setRefAccelerations (const int n_joints, const int joints, const double accs)

bool	getRefAcceleration (int j, double *acc)

bool	getRefAccelerations (double *accs)

bool	getRefAccelerations (const int n_joints, const int joints, double accs)

bool	stop (int j)

bool	stop ()

bool	stop (const int n_joint, const int *joints)

bool	getNumberOfMotors (int *num)

bool	getCurrent (int m, double *curr)

bool	getCurrents (double *currs)

void	printError (const std::string &func_name, const std::string &info, bool result)

Public Member Functions inherited from yarp::dev::IMotorEncoders
virtual	~IMotorEncoders ()
	Destructor. More...

Additional Inherited Members
Public Attributes inherited from ControlBoardWrapperCommon
WrappedDevice	device

size_t	controlledJoints {0}

std::string	partName

std::mutex	rpcDataMutex

MultiJointData	rpcData

std::mutex	timeMutex

yarp::os::Stamp	time

Detailed Description

Definition at line 16 of file ControlBoardWrapperMotorEncoders.h.

Member Function Documentation

◆ getMotorEncoder()

bool ControlBoardWrapperMotorEncoders::getMotorEncoder	(	int	m,
		double *	v
	)

overridevirtual

Read the value of a motor encoder.

Parameters

m	motor encoder number
v	pointer to storage for the return value

Returns: true/false

Implements yarp::dev::IMotorEncoders.

Definition at line 128 of file ControlBoardWrapperMotorEncoders.cpp.

◆ getMotorEncoderAcceleration()

bool ControlBoardWrapperMotorEncoders::getMotorEncoderAcceleration	(	int	m,
		double *	acc
	)

overridevirtual

Read the instantaneous acceleration of a motor encoder.

Parameters

m	motor number
acc	pointer to the array that will contain the output

Returns: true if successful, false otherwise.

Implements yarp::dev::IMotorEncoders.

Definition at line 267 of file ControlBoardWrapperMotorEncoders.cpp.

◆ getMotorEncoderAccelerations()

bool ControlBoardWrapperMotorEncoders::getMotorEncoderAccelerations ( double * accs )

overridevirtual

Read the instantaneous acceleration of all motor encoders.

Parameters

accs	pointer to the array that will contain the output

Returns: true if successful, false otherwise.

Implements yarp::dev::IMotorEncoders.

Definition at line 285 of file ControlBoardWrapperMotorEncoders.cpp.

◆ getMotorEncoderCountsPerRevolution()

bool ControlBoardWrapperMotorEncoders::getMotorEncoderCountsPerRevolution	(	int	m,
		double *	cpr
	)

overridevirtual

Gets number of counts per revolution for motor encoder m.

Parameters

m	motor number
cpr	vals pointer to the new value

Returns: true/false

Implements yarp::dev::IMotorEncoders.

Definition at line 110 of file ControlBoardWrapperMotorEncoders.cpp.

◆ getMotorEncoders()

bool ControlBoardWrapperMotorEncoders::getMotorEncoders ( double * encs )

overridevirtual

Read the position of all motor encoders.

Parameters

encs	pointer to the array that will contain the output

Returns: true/false

Implements yarp::dev::IMotorEncoders.

Definition at line 146 of file ControlBoardWrapperMotorEncoders.cpp.

◆ getMotorEncoderSpeed()

bool ControlBoardWrapperMotorEncoders::getMotorEncoderSpeed	(	int	m,
		double *	sp
	)

overridevirtual

Read the istantaneous speed of a motor encoder.

Parameters

m	motor number
sp	pointer to storage for the output

Returns: true if successful, false otherwise.

Implements yarp::dev::IMotorEncoders.

Definition at line 222 of file ControlBoardWrapperMotorEncoders.cpp.

◆ getMotorEncoderSpeeds()

bool ControlBoardWrapperMotorEncoders::getMotorEncoderSpeeds ( double * spds )

overridevirtual

Read the instantaneous speed of all motor encoders.

Parameters

spds	pointer to storage for the output values

Returns: true if successful, false otherwise.

Implements yarp::dev::IMotorEncoders.

Definition at line 240 of file ControlBoardWrapperMotorEncoders.cpp.

◆ getMotorEncodersTimed()

bool ControlBoardWrapperMotorEncoders::getMotorEncodersTimed	(	double *	encs,
		double *	time
	)

overridevirtual

Read the instantaneous position of all motor encoders.

Parameters

encs	pointer to the array that will contain the output
time	pointer to the array that will contain individual timestamps

Returns: true if successful, false otherwise.

Implements yarp::dev::IMotorEncoders.

Definition at line 174 of file ControlBoardWrapperMotorEncoders.cpp.

◆ getMotorEncoderTimed()

bool ControlBoardWrapperMotorEncoders::getMotorEncoderTimed	(	int	m,
		double *	encs,
		double *	time
	)

overridevirtual

Read the instantaneous position of a motor encoder.

Parameters

m	motor index
encs	encoder value (pointer to)
time	corresponding timestamp (pointer to)

Returns: true if successful, false otherwise.

Implements yarp::dev::IMotorEncoders.

Definition at line 204 of file ControlBoardWrapperMotorEncoders.cpp.

◆ getNumberOfMotorEncoders()

bool ControlBoardWrapperMotorEncoders::getNumberOfMotorEncoders ( int * num )

overridevirtual

Get the number of available motor encoders.

Parameters

m	pointer to a value representing the number of available motor encoders.

Returns: true/false

Implements yarp::dev::IMotorEncoders.

Definition at line 312 of file ControlBoardWrapperMotorEncoders.cpp.

◆ resetMotorEncoder()

bool ControlBoardWrapperMotorEncoders::resetMotorEncoder ( int m )

overridevirtual

Reset motor encoder, single motor.

Set the encoder value to zero.

Parameters

m	motor number

Returns: true/false

Implements yarp::dev::IMotorEncoders.

Definition at line 13 of file ControlBoardWrapperMotorEncoders.cpp.

◆ resetMotorEncoders()

bool ControlBoardWrapperMotorEncoders::resetMotorEncoders ( )

overridevirtual

Reset motor encoders.

Set the motor encoders value to zero.

Returns: true/false

Implements yarp::dev::IMotorEncoders.

Definition at line 30 of file ControlBoardWrapperMotorEncoders.cpp.

◆ setMotorEncoder()

bool ControlBoardWrapperMotorEncoders::setMotorEncoder	(	int	m,
		const double	val
	)

overridevirtual

Set the value of the motor encoder for a given motor.

Parameters

m	motor number
val	new value

Returns: true/false

Implements yarp::dev::IMotorEncoders.

Definition at line 53 of file ControlBoardWrapperMotorEncoders.cpp.

◆ setMotorEncoderCountsPerRevolution()

bool ControlBoardWrapperMotorEncoders::setMotorEncoderCountsPerRevolution	(	int	m,
		const double	cpr
	)

overridevirtual

Sets number of counts per revolution for motor encoder m.

Parameters

m	motor number
cpr	new value

Returns: true/false

Implements yarp::dev::IMotorEncoders.

Definition at line 93 of file ControlBoardWrapperMotorEncoders.cpp.

◆ setMotorEncoders()

bool ControlBoardWrapperMotorEncoders::setMotorEncoders ( const double * vals )

overridevirtual

Set the value of all motor encoders.

Parameters

vals	pointer to the new values

Returns: true/false

Implements yarp::dev::IMotorEncoders.

Definition at line 70 of file ControlBoardWrapperMotorEncoders.cpp.

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

src/devices/ControlBoardWrapper/ControlBoardWrapperMotorEncoders.h
src/devices/ControlBoardWrapper/ControlBoardWrapperMotorEncoders.cpp

Public Member Functions

Additional Inherited Members

Detailed Description

Member Function Documentation

◆ getMotorEncoder()

◆ getMotorEncoderAcceleration()

◆ getMotorEncoderAccelerations()

◆ getMotorEncoderCountsPerRevolution()

◆ getMotorEncoders()

◆ getMotorEncoderSpeed()

◆ getMotorEncoderSpeeds()

◆ getMotorEncodersTimed()

◆ getMotorEncoderTimed()

◆ getNumberOfMotorEncoders()

◆ resetMotorEncoder()

◆ resetMotorEncoders()

◆ setMotorEncoder()

◆ setMotorEncoderCountsPerRevolution()

◆ setMotorEncoders()