Write EEPROM configuration to put servos into the given modes. More...

Inheritance diagram for DynaShellCmdCfgWriteServoMode:

Public Member Functions
	DynaShellCmdCfgWriteServoMode ()
	Default constructor.

virtual	~DynaShellCmdCfgWriteServoMode ()
	Default destructor.

Public Member Functions inherited from DynaShellCmdChainOut
	DynaShellCmdChainOut (bool bMasterOpOnly=false)
	Default constructor.

virtual	~DynaShellCmdChainOut ()
	Default destructor.

virtual void	Exec (DynaShell &shell, int argc, char *argv[])
	Execute 'write-like' command on servos. More...

virtual char *	TabCompletion (DynaShell &shell, const char sText, size_t uTextLen, int nState, const char sContext)
	Command tab completion generator. More...

Public Member Functions inherited from DynaShellCmd
	DynaShellCmd (int nArgCntMin=0, int nArgCntMax=0)
	Default constructor.

virtual	~DynaShellCmd ()
	Default destructor.

const char *	GetCmdName ()
	Get dynamixel shell command name. More...

const char *	GetCmdHelpBrief ()
	Get shell command name brief description. More...

virtual void	PrintHelp (int indent=0, int width=80)
	Print command help with the description aligned at the given indentation. More...

int	GetPublishedLevel () const

const char *	GetPublishedName () const

int	SetPublishedInfo (int nLevel, const char *sParent=NULL)

virtual bool	ChkArgCnt (DynaShell &shell, int argc)
	Check that the argument count is within the class (min,max). More...

bool	ChkArgCnt0 (DynaShell &shell, int argc)
	Check that the argument count is zero. More...

bool	ChkArgCntEQ (DynaShell &shell, int argc, int eq)
	Check that the argument count is equal to the required. More...

bool	ChkArgCntGE (DynaShell &shell, int argc, int min)
	Check argument count against minimum required. More...

bool	ChkArgCntLE (DynaShell &shell, int argc, int max)
	Check argument count against maximum allowed. More...

bool	ChkComm (DynaShell &shell)
	Check that Dynamixel communication exists and is open. More...

bool	ChkChain (DynaShell &shell)
	Check that the servo chain exists. More...

bool	ChkChainNotEmpty (DynaShell &shell)
	Check that the servo chain exists and is not empty. More...

bool	ChkChainHasServo (DynaShell &shell, int nServoId)
	Check that the given servo is present in the chain. More...

bool	ChkChainIsMasterServo (DynaShell &shell, int nServoId)
	Check that the given servo is a master. More...

bool	ToInt (DynaShell &shell, const char sArg, int pVal)
	Convert command argument to integer. More...

bool	ToUInt (DynaShell &shell, const char sArg, uint_t pVal)
	Convert command argument to unsigned integer. More...

bool	ToDouble (DynaShell &shell, const char sArg, double pVal)
	Convert command argument to double. More...

bool	ToBool (DynaShell &shell, const char sArg, bool pVal)
	Convert command argument to boolean. More...

Protected Member Functions
virtual void	doExec (DynaShell &shell, ExecTup_T tup[], uint_t uCount)
	Execute operation. More...

virtual bool	ArgToInt (DynaShell &shell, const char sArg, int pVal)
	Convert command argument into servo mode. More...

Protected Member Functions inherited from DynaShellCmdChainOut
virtual bool	ArgToUInt (DynaShell &shell, const char sArg, uint_t pVal)
	Convert command argument into unsigned integer. More...

Protected Member Functions inherited from DynaShellCmd
virtual void	PrintSynopses (int indent, int width)
	Print synsopses. More...

virtual void	PrintBlock (int col, int indent, int width, const char *sText)
	Print a block of indented text of width. More...

virtual void	PrintDelim (int width, const char cDelim)

char *	eow (const char *s)
	Find end of word. More...

Additional Inherited Members
Protected Attributes inherited from DynaShellCmdChainOut
bool	m_bMasterOpOnly
	is [not] a master-only supported operation

int	m_nTabIter
	tab completion: servo id iterator

int	m_nTabServoId
	tab completion: current servo id

bool	m_bTabIncChain
	tab completion: [do not] include chain keyword

Protected Attributes inherited from DynaShellCmd
const char *	m_sCmdName
	command name

const char *	m_sCmdHelpBrief
	command help brief

const char *	m_sCmdHelpArgs
	command help arguments

const char *	m_sCmdHelpDesc
	command help description

const int	m_nArgCntMin
	minimum argument count

const int	m_nArgCntMax
	maximum argument count (0 if not max)

int	m_nPubLevel
	command's published level (depth)

char *	m_sPubName
	command's published name

Detailed Description

Write EEPROM configuration to put servos into the given modes.

Syntax:

* arg_to_uint ::= mode
* mode ::= 'c' | 'cont' | 'continuous' | 's' | 'servo'
*

Definition at line 670 of file dynashell_cmd_servo.cxx.

Member Function Documentation

virtual bool DynaShellCmdCfgWriteServoMode::ArgToInt	(	DynaShell &	shell,
		const char *	sArg,
		int *	pVal
	)

inlineprotectedvirtual

Convert command argument into servo mode.

Parameters

	shell	Dynamixel shell.
	sArg	String argument to convert.
[out]	pVal	Converted argument.

Returns: Returns true on success, false otherwise.

Reimplemented from DynaShellCmdChainOut.

Definition at line 744 of file dynashell_cmd_servo.cxx.

References DYNA_MODE_CONTINUOUS, DYNA_MODE_SERVO, and DynaShell::Error().

   {
     size_t  n = strlen(sArg);
 
     if( !strncmp("continuous", sArg, n) )
     {
       *pVal = DYNA_MODE_CONTINUOUS;
       return true;
     }
     else if( !strncmp("servo", sArg, n) )
     {
       *pVal = DYNA_MODE_SERVO;
       return true;
     }
     else
     {
       shell.Error("Argument value \"%s\": Not a servo mode.", sArg);
       return false;
     }
   }

virtual void DynaShellCmdCfgWriteServoMode::doExec	(	DynaShell &	shell,
		ExecTup_T	tup[],
		uint_t	uCount
	)

inlineprotectedvirtual

Execute operation.

Parameters

shell	Dynamixel shell.
tup	Array of (servo id, mode) 2-tuples.
uCount	Number of tuples.

Implements DynaShellCmdChainOut.

Definition at line 703 of file dynashell_cmd_servo.cxx.

References DYNA_MODE_CONTINUOUS, DYNA_MODE_SERVO, DYNA_OK, DynaShell::Error(), DynaChain::GetServo(), DynaServo::GetServoId(), DynaServo::GetSpecification(), ExecTup_T::m_nVal, DynaShell::m_pDynaChain, DynaServoSpec_T::m_uRawPosMax, and DynaServoSpec_T::m_uRawPosMin.

   {
     DynaServo            *pServo;
     DynaServoSpec_T       spec;
     uint_t                i;
     int                   rc;
 
     for(i=0, rc=DYNA_OK; i<uCount && rc==DYNA_OK; ++i)
     {
       pServo = shell.m_pDynaChain->GetServo(tup[i].m_nServoId);
 
       switch( tup[i].m_nVal )
       {
         case DYNA_MODE_CONTINUOUS:
           rc = pServo->CfgWriteServoModeContinuous();
           break;
 
         case DYNA_MODE_SERVO:
         default:
           spec = pServo->GetSpecification();
           rc = pServo->CfgWriteServoMode(spec.m_uRawPosMin, spec.m_uRawPosMax);
           break;
       }
     }
 
     if( rc != DYNA_OK )
     {
       shell.Error(rc, "Servo %d: Failed to set mode to %d.",
           pServo->GetServoId(), tup[i].m_nVal);
     }
   }

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

dynashell/dynashell_cmd_servo.cxx

Public Member Functions

Protected Member Functions

Additional Inherited Members

Detailed Description

Member Function Documentation