DynaShellCmdSetPid Class Reference

Get the PID values for the given servos. More...

Inheritance diagram for DynaShellCmdSetPid:

Public Member Functions
void	Exec (DynaShell &shell, int argc, char *argv[])
	Execute 'read-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, DynaServo *pServo, double fKp, double fKi, double fKd)
	Get servo PID parameters. 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...

Protected Attributes
int	m_nTabIter
	tab completion: servo id iterator
int	m_nTabServoId
	tab completion: current servo id
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

Get the PID values for the given servos.

Definition at line 214 of file dynashell_cmd_train.cxx.

Member Function Documentation

virtual void DynaShellCmdSetPid::doExec ( DynaShell &  shell, DynaServo *  pServo, double  fKp, double  fKi, double  fKd  )

inlineprotectedvirtual

Get servo PID parameters.

Parameters

shell	Dynamixel shell.
pServo	Pointer to servo.
fKp	PID proportional constant.
fKi	PID integral constant.
fKd	PID derivative constant.

Definition at line 395 of file dynashell_cmd_train.cxx.

  {
    pServo->GetSpeedPid().SetConstants(fKp, fKi, fKd);
  }

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

inlinevirtual

Execute 'read-like' command on servos.

Parameters

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

Implements DynaShellCmd.

Definition at line 249 of file dynashell_cmd_train.cxx.

References DYNA_ID_NONE, DynaShell::Error(), DynaChain::GetServo(), DynaChain::IterNext(), DynaChain::IterStart(), DynaShell::m_pDynaChain, and TRY.

  {
    bool        bAll;
    int         nServoId;
    double      fKp;
    double      fKi;
    double      fKd;
    int         i;
    int         iter;
    DynaServo  *pServo;

    TRY( ChkArgCnt(shell, argc) );

    TRY( ChkComm(shell) );
    TRY( ChkChainNotEmpty(shell) );

    for(i=0; i<argc; ++i)
    {
      switch( i )
      {
        case 0:
          if( !strcmp(argv[i], "chain") )
          {
            bAll = true;
          }
          else
          {
            TRY( ToInt(shell, argv[i], &nServoId) );
            TRY( ChkChainHasServo(shell, nServoId) );
            bAll = false;
          }
          break;
        case 1:
          TRY( ToDouble(shell, argv[i], &fKp) );
          break;
        case 2:
          TRY( ToDouble(shell, argv[i], &fKi) );
          break;
        case 3:
          TRY( ToDouble(shell, argv[i], &fKd) );
          break;
        default:
          shell.Error("Huh?");
          return;
      }
    }

    if( bAll )
    {
      for(nServoId = shell.m_pDynaChain->IterStart(&iter);
          nServoId != DYNA_ID_NONE;
          nServoId = shell.m_pDynaChain->IterNext(&iter))
      {
        pServo = shell.m_pDynaChain->GetServo(nServoId);
        doExec(shell, pServo, fKp, fKi, fKd);
      }
    }
    else
    {
      pServo = shell.m_pDynaChain->GetServo(nServoId);
      doExec(shell, pServo, fKp, fKi, fKd);
    }
  }

virtual char* DynaShellCmdSetPid::TabCompletion ( DynaShell &  shell, const char *  sText, size_t  uTextLen, int  nState, const char *  sContext  )

inlinevirtual

Command tab completion generator.

Completes NULL <servo_id> | chain [servo_id [servo_id ...]]

Parameters

shell	Dynamixel shell.
sText	Partial text string to complete.
uTextLen	Length of text.
nState	Generator state. If FIRST, then initialize any statics.
sContext	Generator context (i.e. canonical command path).

Returns

If a first/next match is made, return allocated completed match.
Otherwise return NULL.

Reimplemented from DynaShellCmd.

Definition at line 328 of file dynashell_cmd_train.cxx.

References ReadLine::dupstr(), DYNA_ID_NONE, ReadLine::FIRST, DynaChain::GetNumberInChain(), DynaChain::IterNext(), DynaChain::IterStart(), DynaShell::m_pDynaChain, and ReadLine::wc().

  {
    int   nArgNum;
    char  buf[16];
  
    if( (shell.m_pDynaChain == NULL) ||
        (shell.m_pDynaChain->GetNumberInChain() == 0) )
    {
      return NULL;
    }
  
    // argument number of already (expanded) arguments
    nArgNum = ReadLine::wc(sContext) - ReadLine::wc(m_sPubName);

    // only first argument can be expanded
    if( nArgNum > 0 )
    {
      return NULL;
    }

    //
    // New command to complete - initialize.
    //
    if( nState == ReadLine::FIRST )
    {
      m_nTabServoId = shell.m_pDynaChain->IterStart(&m_nTabIter);
    }
  
    while( m_nTabServoId != DYNA_ID_NONE )
    {
      snprintf(buf, sizeof(buf), "%d", m_nTabServoId);
      buf[sizeof(buf)-1] = 0;
  
      m_nTabServoId = shell.m_pDynaChain->IterNext(&m_nTabIter);
  
      if( !strncmp(buf, sText, uTextLen) )
      {
        return ReadLine::dupstr(buf);
      }
    }
  
    if( !strncmp("chain", sText, uTextLen) )
    {
      return ReadLine::dupstr("chain");
    }
  
    // no more matches
    return NULL;
  }

---

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

• dynashell/dynashell_cmd_train.cxx