YARP
Yet Another Robot Platform
Public Member Functions | List of all members
yarp::dev::IAmplifierControlRaw Class Referenceabstract

Interface for control devices, amplifier commands. More...

#include <yarp/dev/IAmplifierControl.h>

+ Inheritance diagram for yarp::dev::IAmplifierControlRaw:

Public Member Functions

virtual ~IAmplifierControlRaw ()
 Destructor. More...
 
virtual bool enableAmpRaw (int j)=0
 Enable the amplifier on a specific joint. More...
 
virtual bool disableAmpRaw (int j)=0
 Disable the amplifier on a specific joint. More...
 
virtual bool getAmpStatusRaw (int *st)=0
 
virtual bool getAmpStatusRaw (int j, int *st)=0
 
virtual bool getCurrentsRaw (double *vals)=0
 
virtual bool getCurrentRaw (int j, double *val)=0
 
virtual bool setMaxCurrentRaw (int j, double v)=0
 
virtual bool getMaxCurrentRaw (int j, double *v)=0
 Returns the maximum electric current allowed for a given motor. More...
 
virtual bool getNominalCurrentRaw (int m, double *val)
 
virtual bool setNominalCurrentRaw (int m, const double val)
 
virtual bool getPeakCurrentRaw (int m, double *val)
 
virtual bool setPeakCurrentRaw (int m, const double val)
 
virtual bool getPWMRaw (int j, double *val)
 
virtual bool getPWMLimitRaw (int j, double *val)
 
virtual bool setPWMLimitRaw (int j, const double val)
 
virtual bool getPowerSupplyVoltageRaw (int j, double *val)
 

Detailed Description

Interface for control devices, amplifier commands.

Definition at line 178 of file IAmplifierControl.h.

Constructor & Destructor Documentation

◆ ~IAmplifierControlRaw()

virtual yarp::dev::IAmplifierControlRaw::~IAmplifierControlRaw ( )
inlinevirtual

Destructor.

Definition at line 184 of file IAmplifierControl.h.

Member Function Documentation

◆ disableAmpRaw()

virtual bool yarp::dev::IAmplifierControlRaw::disableAmpRaw ( int  j)
pure virtual

Disable the amplifier on a specific joint.

All computations within the board will be carried out normally, but the output will be disabled.

Returns
true/false on success/failure

Implemented in FakeMotionControl.

◆ enableAmpRaw()

virtual bool yarp::dev::IAmplifierControlRaw::enableAmpRaw ( int  j)
pure virtual

Enable the amplifier on a specific joint.

Be careful, check that the output of the controller is appropriate (usually zero), to avoid generating abrupt movements.

Returns
true/false on success/failure

Implemented in FakeMotionControl.

◆ getAmpStatusRaw() [1/2]

virtual bool yarp::dev::IAmplifierControlRaw::getAmpStatusRaw ( int *  st)
pure virtual

Implemented in FakeMotionControl.

◆ getAmpStatusRaw() [2/2]

virtual bool yarp::dev::IAmplifierControlRaw::getAmpStatusRaw ( int  j,
int *  st 
)
pure virtual

Implemented in FakeMotionControl.

◆ getCurrentRaw()

virtual bool yarp::dev::IAmplifierControlRaw::getCurrentRaw ( int  j,
double *  val 
)
pure virtual

Implemented in FakeMotionControl.

◆ getCurrentsRaw()

virtual bool yarp::dev::IAmplifierControlRaw::getCurrentsRaw ( double *  vals)
pure virtual

Implemented in FakeMotionControl.

◆ getMaxCurrentRaw()

virtual bool yarp::dev::IAmplifierControlRaw::getMaxCurrentRaw ( int  j,
double *  v 
)
pure virtual

Returns the maximum electric current allowed for a given motor.

Exceeding this value will trigger instantaneous hardware fault.

Parameters
jmotor number
vthe return value
Returns
probably true, might return false in bad times

Implemented in FakeMotionControl.

◆ getNominalCurrentRaw()

virtual bool yarp::dev::IAmplifierControlRaw::getNominalCurrentRaw ( int  m,
double *  val 
)
inlinevirtual

Reimplemented in FakeMotionControl.

Definition at line 253 of file IAmplifierControl.h.

◆ getPeakCurrentRaw()

virtual bool yarp::dev::IAmplifierControlRaw::getPeakCurrentRaw ( int  m,
double *  val 
)
inlinevirtual

Reimplemented in FakeMotionControl.

Definition at line 275 of file IAmplifierControl.h.

◆ getPowerSupplyVoltageRaw()

virtual bool yarp::dev::IAmplifierControlRaw::getPowerSupplyVoltageRaw ( int  j,
double *  val 
)
inlinevirtual

Reimplemented in FakeMotionControl.

Definition at line 317 of file IAmplifierControl.h.

◆ getPWMLimitRaw()

virtual bool yarp::dev::IAmplifierControlRaw::getPWMLimitRaw ( int  j,
double *  val 
)
inlinevirtual

Reimplemented in FakeMotionControl.

Definition at line 302 of file IAmplifierControl.h.

◆ getPWMRaw()

virtual bool yarp::dev::IAmplifierControlRaw::getPWMRaw ( int  j,
double *  val 
)
inlinevirtual

Reimplemented in FakeMotionControl.

Definition at line 294 of file IAmplifierControl.h.

◆ setMaxCurrentRaw()

virtual bool yarp::dev::IAmplifierControlRaw::setMaxCurrentRaw ( int  j,
double  v 
)
pure virtual

Implemented in FakeMotionControl.

◆ setNominalCurrentRaw()

virtual bool yarp::dev::IAmplifierControlRaw::setNominalCurrentRaw ( int  m,
const double  val 
)
inlinevirtual

Reimplemented in FakeMotionControl.

Definition at line 264 of file IAmplifierControl.h.

◆ setPeakCurrentRaw()

virtual bool yarp::dev::IAmplifierControlRaw::setPeakCurrentRaw ( int  m,
const double  val 
)
inlinevirtual

Reimplemented in FakeMotionControl.

Definition at line 286 of file IAmplifierControl.h.

◆ setPWMLimitRaw()

virtual bool yarp::dev::IAmplifierControlRaw::setPWMLimitRaw ( int  j,
const double  val 
)
inlinevirtual

Reimplemented in FakeMotionControl.

Definition at line 310 of file IAmplifierControl.h.

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