Control board, encoder interface. More...

#include <yarp/dev/IEncoders.h>

Inheritance diagram for yarp::dev::IEncoders:

Public Member Functions
virtual	~IEncoders ()
	Destructor. More...

virtual bool	getAxes (int *ax)=0
	Get the number of controlled axes. More...

virtual bool	resetEncoder (int j)=0
	Reset encoder, single joint. More...

virtual bool	resetEncoders ()=0
	Reset encoders. More...

virtual bool	setEncoder (int j, double val)=0
	Set the value of the encoder for a given joint. More...

virtual bool	setEncoders (const double *vals)=0
	Set the value of all encoders. More...

virtual bool	getEncoder (int j, double *v)=0
	Read the value of an encoder. More...

virtual bool	getEncoders (double *encs)=0
	Read the position of all axes. More...

virtual bool	getEncoderSpeed (int j, double *sp)=0
	Read the istantaneous speed of an axis. More...

virtual bool	getEncoderSpeeds (double *spds)=0
	Read the instantaneous speed of all axes. More...

virtual bool	getEncoderAcceleration (int j, double *spds)=0
	Read the instantaneous acceleration of an axis. More...

virtual bool	getEncoderAccelerations (double *accs)=0
	Read the instantaneous acceleration of all axes. More...

Detailed Description

Control board, encoder interface.

Definition at line 120 of file IEncoders.h.

Constructor & Destructor Documentation

◆ ~IEncoders()

virtual yarp::dev::IEncoders::~IEncoders ( )

inlinevirtual

Destructor.

Definition at line 126 of file IEncoders.h.

Member Function Documentation

◆ getAxes()

virtual bool yarp::dev::IEncoders::getAxes ( int * ax )

pure virtual

Get the number of controlled axes.

This command asks the number of controlled axes for the current physical interface.

Returns: the number of controlled axes.

Implemented in yarp::dev::ImplementEncodersTimed, yarp::dev::ImplementEncoders, RemoteControlBoard, FakeMotor, FakeMotionControl, FakeBot, DynamixelAX12FtdiDriver, ControlBoardWrapperEncodersTimed, and ControlBoardRemapper.

◆ getEncoder()

virtual bool yarp::dev::IEncoders::getEncoder	(	int	j,
		double *	v
	)

pure virtual

Read the value of an encoder.

Parameters

j	encoder number
v	pointer to storage for the return value

Returns: true/false, upon success/failure (you knew it, uh?)

Implemented in yarp::dev::ImplementEncodersTimed, yarp::dev::ImplementEncoders, RemoteControlBoard, FakeMotor, FakeBot, DynamixelAX12FtdiDriver, ControlBoardWrapperEncodersTimed, and ControlBoardRemapper.

◆ getEncoderAcceleration()

virtual bool yarp::dev::IEncoders::getEncoderAcceleration	(	int	j,
		double *	spds
	)

pure virtual

Read the instantaneous acceleration of an axis.

Parameters

j	axis number
spds	pointer to the array that will contain the output

Implemented in yarp::dev::ImplementEncodersTimed, yarp::dev::ImplementEncoders, FakeMotor, FakeBot, DynamixelAX12FtdiDriver, RemoteControlBoard, ControlBoardWrapperEncodersTimed, and ControlBoardRemapper.

◆ getEncoderAccelerations()

virtual bool yarp::dev::IEncoders::getEncoderAccelerations ( double * accs )

pure virtual

Read the instantaneous acceleration of all axes.

Parameters

accs	pointer to the array that will contain the output

Returns: true if all goes well, false if anything bad happens.

Implemented in yarp::dev::ImplementEncodersTimed, yarp::dev::ImplementEncoders, RemoteControlBoard, FakeMotor, FakeBot, DynamixelAX12FtdiDriver, ControlBoardWrapperEncodersTimed, and ControlBoardRemapper.

◆ getEncoders()

virtual bool yarp::dev::IEncoders::getEncoders ( double * encs )

pure virtual

Read the position of all axes.

Parameters

encs	pointer to the array that will contain the output

Returns: true/false on success/failure

Implemented in yarp::dev::ImplementEncodersTimed, yarp::dev::ImplementEncoders, RemoteControlBoard, FakeMotor, FakeBot, DynamixelAX12FtdiDriver, ControlBoardWrapperEncodersTimed, and ControlBoardRemapper.

◆ getEncoderSpeed()

virtual bool yarp::dev::IEncoders::getEncoderSpeed	(	int	j,
		double *	sp
	)

pure virtual

Read the istantaneous speed of an axis.

Parameters

j	axis number
sp	pointer to storage for the output

Returns: true if successful, false ... otherwise.

Implemented in yarp::dev::ImplementEncodersTimed, yarp::dev::ImplementEncoders, RemoteControlBoard, FakeMotor, FakeBot, DynamixelAX12FtdiDriver, ControlBoardWrapperEncodersTimed, and ControlBoardRemapper.

◆ getEncoderSpeeds()

virtual bool yarp::dev::IEncoders::getEncoderSpeeds ( double * spds )

pure virtual

Read the instantaneous speed of all axes.

Parameters

spds	pointer to storage for the output values

Returns: guess what? (true/false on success or failure).

Implemented in yarp::dev::ImplementEncodersTimed, yarp::dev::ImplementEncoders, RemoteControlBoard, FakeMotor, FakeBot, DynamixelAX12FtdiDriver, ControlBoardWrapperEncodersTimed, and ControlBoardRemapper.

◆ resetEncoder()

virtual bool yarp::dev::IEncoders::resetEncoder ( int j )

pure virtual

Reset encoder, single joint.

Set the encoder value to zero

Parameters

j	encoder number

Returns: true/false

Implemented in yarp::dev::ImplementEncodersTimed, yarp::dev::ImplementEncoders, RemoteControlBoard, FakeMotor, FakeBot, DynamixelAX12FtdiDriver, ControlBoardWrapperEncodersTimed, and ControlBoardRemapper.

◆ resetEncoders()

virtual bool yarp::dev::IEncoders::resetEncoders ( )

pure virtual

Reset encoders.

Set the encoders value to zero

Returns: true/false

Implemented in yarp::dev::ImplementEncodersTimed, yarp::dev::ImplementEncoders, RemoteControlBoard, FakeMotor, FakeBot, DynamixelAX12FtdiDriver, ControlBoardWrapperEncodersTimed, and ControlBoardRemapper.

◆ setEncoder()

virtual bool yarp::dev::IEncoders::setEncoder	(	int	j,
		double	val
	)

pure virtual

Set the value of the encoder for a given joint.

Parameters

j	encoder number
val	new value

Returns: true/false

Implemented in yarp::dev::ImplementEncodersTimed, yarp::dev::ImplementEncoders, RemoteControlBoard, FakeMotor, FakeBot, DynamixelAX12FtdiDriver, ControlBoardWrapperEncodersTimed, and ControlBoardRemapper.

◆ setEncoders()

virtual bool yarp::dev::IEncoders::setEncoders ( const double * vals )

pure virtual

Set the value of all encoders.

Parameters

vals	pointer to the new values

Returns: true/false

Implemented in yarp::dev::ImplementEncodersTimed, yarp::dev::ImplementEncoders, RemoteControlBoard, FakeMotor, FakeBot, DynamixelAX12FtdiDriver, ControlBoardWrapperEncodersTimed, and ControlBoardRemapper.

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

src/libYARP_dev/src/yarp/dev/IEncoders.h

Public Member Functions

Detailed Description

Constructor & Destructor Documentation

◆ ~IEncoders()

Member Function Documentation

◆ getAxes()

◆ getEncoder()

◆ getEncoderAcceleration()

◆ getEncoderAccelerations()

◆ getEncoders()

◆ getEncoderSpeed()

◆ getEncoderSpeeds()

◆ resetEncoder()

◆ resetEncoders()

◆ setEncoder()

◆ setEncoders()