DynaShellCmdMoveAtSpeedTo Class Reference

Determine if servos are moving. More...

Inheritance diagram for DynaShellCmdMoveAtSpeedTo:

Public Member Functions
void	Exec (DynaShell &shell, int argc, char *argv[])
	Execute 'write-like' command on servos. 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 char *	TabCompletion (DynaShell &shell, const char *sText, size_t uTextLen, int nState, const char *sContext)
	Default command tab completion generator. More...
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, DynaSpeedPosTuple_T tup[], uint_t uCount)
	Move servos to goal positions. 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 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

Determine if servos are moving.

Definition at line 177 of file dynashell_cmd_servo.cxx.

Member Function Documentation

virtual void DynaShellCmdMoveAtSpeedTo::doExec ( DynaShell &  shell, DynaSpeedPosTuple_T  tup[], uint_t  uCount  )

inlineprotectedvirtual

Move servos to goal positions.

Parameters

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

Definition at line 290 of file dynashell_cmd_servo.cxx.

References DYNA_OK, DynaShell::Error(), DynaShell::m_pDynaChain, DynaChain::MoveAtSpeedTo(), and DynaChain::SyncMoveAtSpeedTo().

  {
    int             rc;

    if( uCount == 1 )
    {
      rc = shell.m_pDynaChain->MoveAtSpeedTo(tup[0].m_nServoId,
                                             tup[0].m_nSpeed,
                                             tup[0].m_nPos);

      if( rc != DYNA_OK )
      {
        shell.Error(rc, "Servo %d: move at speed %d to %d failed.",
                          tup[0].m_nServoId, tup[0].m_nSpeed, tup[0].m_nPos);
      }
    }
    else // > 1
    {
      rc = shell.m_pDynaChain->SyncMoveAtSpeedTo(tup, uCount);

      if( rc != DYNA_OK )
      {
        shell.Error(rc, "Synchronous move at speed of %u servos failed.",
            uCount);
      }
    }
  }

void DynaShellCmdMoveAtSpeedTo::Exec ( DynaShell &  shell, int  argc, char *  argv[]  )

inlinevirtual

Execute 'write-like' command on servos.

Parameters

shell	Dynamixel shell.
argc	Command argument count.
argv	Array of arguments.

Implements DynaShellCmd.

Definition at line 214 of file dynashell_cmd_servo.cxx.

References DYNA_ID_NONE, DYNA_ID_NUMOF, DynaShell::Error(), DynaChain::IterNextMaster(), DynaChain::IterStartMaster(), DynaSpeedPosTuple_T::m_nPos, DynaSpeedPosTuple_T::m_nServoId, DynaSpeedPosTuple_T::m_nSpeed, DynaShell::m_pDynaChain, and TRY.

  {
    uint_t                uNumPairs;
    DynaSpeedPosTuple_T   tup[DYNA_ID_NUMOF];
    int                   nServoId;
    int                   nSpeed;
    int                   nPos;
    int                   iter;
    int                   cnt;
  
    TRY( ChkArgCnt(shell, argc) );
  
    if( (argc % 3) != 0 )
    {
      shell.Error("Unmatched servo_id,speed,pos triplets.");
      return;
    }
  
    uNumPairs = (uint_t)(argc / 3);
  
    if( uNumPairs > DYNA_ID_NUMOF )
    {
      shell.Error("%u: Too many servo_id,speed,pos triplets.", uNumPairs);
      return;
    }
  
    TRY( ChkComm(shell) );
    TRY( ChkChainNotEmpty(shell) );
  
    // full chain of servos
    if( !strcmp(argv[0], "chain") )
    {
      TRY( ChkArgCntEQ(shell, argc, 3) );
      TRY( ToInt(shell, argv[1], &nSpeed) );
      TRY( ToInt(shell, argv[2], &nPos) );
  
      for(nServoId = shell.m_pDynaChain->IterStartMaster(&iter), cnt=0;
          nServoId != DYNA_ID_NONE;
          nServoId = shell.m_pDynaChain->IterNextMaster(&iter), ++cnt)
      {
        tup[cnt].m_nServoId = nServoId;
        tup[cnt].m_nSpeed   = nSpeed;
        tup[cnt].m_nPos     = nPos;
      }

      uNumPairs = (uint_t)cnt;
    }
  
    // list of servos
    else
    {
      for(iter=0, cnt=0; iter<argc; iter+=3, ++cnt)
      {
        TRY( ToInt(shell, argv[iter], &nServoId) );
        TRY( ToInt(shell, argv[iter+1], &nSpeed) );
        TRY( ToInt(shell, argv[iter+2], &nPos) );
        TRY( ChkChainHasServo(shell, nServoId) );
        TRY( ChkChainIsMasterServo(shell, nServoId) );
  
        tup[cnt].m_nServoId = nServoId;
        tup[cnt].m_nSpeed   = nSpeed;
        tup[cnt].m_nPos     = nPos;
      } 
    }
  
    doExec(shell, tup, uNumPairs);
  }

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

• dynashell/dynashell_cmd_servo.cxx