DynaShellCmdWriteGoalSpeed Class Reference

Determine if servos are moving. More...

Inheritance diagram for DynaShellCmdWriteGoalSpeed:

Protected Member Functions
virtual void	doExec (DynaShell &shell, ExecTup_T tup[], uint_t uCount)
	Write goal speeds. 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...
virtual bool	ArgToInt (DynaShell &shell, const char *sArg, int *pVal)
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
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 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

Determine if servos are moving.

Definition at line 1068 of file dynashell_cmd_servo.cxx.

Member Function Documentation

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

inlineprotectedvirtual

Write goal speeds.

Parameters

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

Implements DynaShellCmdChainOut.

Definition at line 1105 of file dynashell_cmd_servo.cxx.

References DYNA_ID_NUMOF, DYNA_OK, DynaShell::Error(), DynaChain::GetServo(), DynaServo::GetServoId(), DynaSpeedTuple_T::m_nServoId, ExecTup_T::m_nServoId, DynaSpeedTuple_T::m_nSpeed, ExecTup_T::m_nVal, DynaShell::m_pDynaChain, and DynaChain::SyncWriteGoalSpeed().

  {
    DynaServo        *pServo;
    int               nGoalSpeed;
    DynaSpeedTuple_T  tupSpeed[DYNA_ID_NUMOF];
    int               i;
    int               rc;

    if( uCount == 1 )
    {
      pServo = shell.m_pDynaChain->GetServo(tup[0].m_nServoId);

      nGoalSpeed = tup[0].m_nVal;

      rc = pServo->WriteGoalSpeed(nGoalSpeed);

      if( rc != DYNA_OK )
      {
        shell.Error(rc,
            "Servo %d: Write goal speed %d failed.",
            pServo->GetServoId(), nGoalSpeed);
      }
    }
    else // > 1
    {
      for(i=0; i<(int)uCount; ++i)
      {
        pServo = shell.m_pDynaChain->GetServo(tup[i].m_nServoId);

        tupSpeed[i].m_nServoId = tup[i].m_nServoId;
        tupSpeed[i].m_nSpeed   = tup[i].m_nVal;
      }

      rc = shell.m_pDynaChain->SyncWriteGoalSpeed(tupSpeed, uCount);

      if( rc != DYNA_OK )
      {
        shell.Error(rc,
            "Synchronous write of goal speeds for %u servos failed.",
            uCount);
      }
    }
  }

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

• dynashell/dynashell_cmd_servo.cxx