Control board, encoder interface. More...

#include <yarp/dev/IMotorEncoders.h>

Inheritance diagram for yarp::dev::IMotorEncoders:

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

virtual bool	getNumberOfMotorEncoders (int *num)=0
	Get the number of available motor encoders. More...

virtual bool	resetMotorEncoder (int m)=0
	Reset motor encoder, single motor. More...

virtual bool	resetMotorEncoders ()=0
	Reset motor encoders. More...

virtual bool	setMotorEncoderCountsPerRevolution (int m, const double cpr)=0
	Sets number of counts per revolution for motor encoder m. More...

virtual bool	getMotorEncoderCountsPerRevolution (int m, double *cpr)=0
	Gets number of counts per revolution for motor encoder m. More...

virtual bool	setMotorEncoder (int m, const double val)=0
	Set the value of the motor encoder for a given motor. More...

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

virtual bool	getMotorEncoder (int m, double *v)=0
	Read the value of a motor encoder. More...

virtual bool	getMotorEncoders (double *encs)=0
	Read the position of all motor encoders. More...

virtual bool	getMotorEncodersTimed (double encs, double time)=0
	Read the instantaneous position of all motor encoders. More...

virtual bool	getMotorEncoderTimed (int m, double encs, double time)=0
	Read the instantaneous position of a motor encoder. More...

virtual bool	getMotorEncoderSpeed (int m, double *sp)=0
	Read the istantaneous speed of a motor encoder. More...

virtual bool	getMotorEncoderSpeeds (double *spds)=0
	Read the instantaneous speed of all motor encoders. More...

virtual bool	getMotorEncoderAcceleration (int m, double *acc)=0
	Read the instantaneous acceleration of a motor encoder. More...

virtual bool	getMotorEncoderAccelerations (double *accs)=0
	Read the instantaneous acceleration of all motor encoders. More...

Detailed Description

Control board, encoder interface.

Definition at line 154 of file IMotorEncoders.h.

Constructor & Destructor Documentation

◆ ~IMotorEncoders()

virtual yarp::dev::IMotorEncoders::~IMotorEncoders ( )

inlinevirtual

Destructor.

Definition at line 160 of file IMotorEncoders.h.

Member Function Documentation

◆ getMotorEncoder()

virtual bool yarp::dev::IMotorEncoders::getMotorEncoder	(	int	m,
		double *	v
	)

pure virtual

Read the value of a motor encoder.

Parameters

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

Returns: true/false

Implemented in yarp::dev::ImplementMotorEncoders, ControlBoardWrapperMotorEncoders, ControlBoardRemapper, and RemoteControlBoard.

◆ getMotorEncoderAcceleration()

virtual bool yarp::dev::IMotorEncoders::getMotorEncoderAcceleration	(	int	m,
		double *	acc
	)

pure virtual

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.

Implemented in yarp::dev::ImplementMotorEncoders, ControlBoardWrapperMotorEncoders, ControlBoardRemapper, and RemoteControlBoard.

◆ getMotorEncoderAccelerations()

virtual bool yarp::dev::IMotorEncoders::getMotorEncoderAccelerations ( double * accs )

pure virtual

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.

Implemented in yarp::dev::ImplementMotorEncoders, RemoteControlBoard, ControlBoardWrapperMotorEncoders, and ControlBoardRemapper.

◆ getMotorEncoderCountsPerRevolution()

virtual bool yarp::dev::IMotorEncoders::getMotorEncoderCountsPerRevolution	(	int	m,
		double *	cpr
	)

pure virtual

Gets number of counts per revolution for motor encoder m.

Parameters

m	motor number
cpr	vals pointer to the new value

Returns: true/false

Implemented in yarp::dev::ImplementMotorEncoders, RemoteControlBoard, ControlBoardWrapperMotorEncoders, and ControlBoardRemapper.

◆ getMotorEncoders()

virtual bool yarp::dev::IMotorEncoders::getMotorEncoders ( double * encs )

pure virtual

Read the position of all motor encoders.

Parameters

encs	pointer to the array that will contain the output

Returns: true/false

Implemented in yarp::dev::ImplementMotorEncoders, RemoteControlBoard, ControlBoardWrapperMotorEncoders, and ControlBoardRemapper.

◆ getMotorEncoderSpeed()

virtual bool yarp::dev::IMotorEncoders::getMotorEncoderSpeed	(	int	m,
		double *	sp
	)

pure virtual

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.

Implemented in yarp::dev::ImplementMotorEncoders, ControlBoardWrapperMotorEncoders, ControlBoardRemapper, and RemoteControlBoard.

◆ getMotorEncoderSpeeds()

virtual bool yarp::dev::IMotorEncoders::getMotorEncoderSpeeds ( double * spds )

pure virtual

Read the instantaneous speed of all motor encoders.

Parameters

spds	pointer to storage for the output values

Returns: true if successful, false otherwise.

Implemented in yarp::dev::ImplementMotorEncoders, RemoteControlBoard, ControlBoardWrapperMotorEncoders, and ControlBoardRemapper.

◆ getMotorEncodersTimed()

virtual bool yarp::dev::IMotorEncoders::getMotorEncodersTimed	(	double *	encs,
		double *	time
	)

pure virtual

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.

Implemented in RemoteControlBoard, yarp::dev::ImplementMotorEncoders, ControlBoardWrapperMotorEncoders, and ControlBoardRemapper.

◆ getMotorEncoderTimed()

virtual bool yarp::dev::IMotorEncoders::getMotorEncoderTimed	(	int	m,
		double *	encs,
		double *	time
	)

pure virtual

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.

Implemented in yarp::dev::ImplementMotorEncoders, ControlBoardWrapperMotorEncoders, ControlBoardRemapper, and RemoteControlBoard.

◆ getNumberOfMotorEncoders()

virtual bool yarp::dev::IMotorEncoders::getNumberOfMotorEncoders ( int * num )

pure virtual

Get the number of available motor encoders.

Parameters

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

Returns: true/false

Implemented in yarp::dev::ImplementMotorEncoders, RemoteControlBoard, ControlBoardWrapperMotorEncoders, and ControlBoardRemapper.

◆ resetMotorEncoder()

virtual bool yarp::dev::IMotorEncoders::resetMotorEncoder ( int m )

pure virtual

Reset motor encoder, single motor.

Set the encoder value to zero.

Parameters

m	motor number

Returns: true/false

Implemented in yarp::dev::ImplementMotorEncoders, ControlBoardWrapperMotorEncoders, ControlBoardRemapper, and RemoteControlBoard.

◆ resetMotorEncoders()

virtual bool yarp::dev::IMotorEncoders::resetMotorEncoders ( )

pure virtual

Reset motor encoders.

Set the motor encoders value to zero.

Returns: true/false

Implemented in yarp::dev::ImplementMotorEncoders, RemoteControlBoard, ControlBoardWrapperMotorEncoders, and ControlBoardRemapper.

◆ setMotorEncoder()

virtual bool yarp::dev::IMotorEncoders::setMotorEncoder	(	int	m,
		const double	val
	)

pure virtual

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

Parameters

m	motor number
val	new value

Returns: true/false

Implemented in yarp::dev::ImplementMotorEncoders, ControlBoardWrapperMotorEncoders, ControlBoardRemapper, and RemoteControlBoard.

◆ setMotorEncoderCountsPerRevolution()

virtual bool yarp::dev::IMotorEncoders::setMotorEncoderCountsPerRevolution	(	int	m,
		const double	cpr
	)

pure virtual

Sets number of counts per revolution for motor encoder m.

Parameters

m	motor number
cpr	new value

Returns: true/false

Implemented in yarp::dev::ImplementMotorEncoders, RemoteControlBoard, ControlBoardWrapperMotorEncoders, and ControlBoardRemapper.

◆ setMotorEncoders()

virtual bool yarp::dev::IMotorEncoders::setMotorEncoders ( const double * vals )

pure virtual

Set the value of all motor encoders.

Parameters

vals	pointer to the new values

Returns: true/false

Implemented in yarp::dev::ImplementMotorEncoders, RemoteControlBoard, ControlBoardWrapperMotorEncoders, and ControlBoardRemapper.

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

src/libYARP_dev/src/yarp/dev/IMotorEncoders.h

Public Member Functions

Detailed Description

Constructor & Destructor Documentation

◆ ~IMotorEncoders()

Member Function Documentation

◆ getMotorEncoder()

◆ getMotorEncoderAcceleration()

◆ getMotorEncoderAccelerations()

◆ getMotorEncoderCountsPerRevolution()

◆ getMotorEncoders()

◆ getMotorEncoderSpeed()

◆ getMotorEncoderSpeeds()

◆ getMotorEncodersTimed()

◆ getMotorEncoderTimed()

◆ getNumberOfMotorEncoders()

◆ resetMotorEncoder()

◆ resetMotorEncoders()

◆ setMotorEncoder()

◆ setMotorEncoderCountsPerRevolution()

◆ setMotorEncoders()