hekateros::HekOpticalLimit_T Struct Reference

Optical limit switch. More...

#include <hekOptical.h>

Public Member Functions
HekOpticalLimit_T	operator= (const HekOpticalLimit_T &rhs)
	Assignment operator. More...
void	clear ()

Public Attributes
byte_t	m_uBit
	i/o expander bit position
double	m_fMinEdgePos
	mininum edge position of occlusion band
double	m_fMinBlackPos
	minimum complete occlusion position
double	m_fCenterPos
	center of operation position
double	m_fMaxBlackPos
	maximum complete occlusion position
double	m_fMaxEdgePos
	maxinum edge position of occlusion band

Detailed Description

Optical limit switch.

An optical limit switch is a binary valued detector that is either completely on ("closed") or completely off ("open"). The switch is composed of an IR transmitter and a photodiode. When the photodiode detects the IR beam, the circuit is closed. When the beam is blocked (occluded)the circuit is open. For Hekateros, the occluson bands serve one of two purposes:

• For joints with limited rotation, the band marks the arc of valid rotation.
• For continously rotating joints, the band(s) mark key joint reference points such as top-dead-center (0 °).

For each Hekateros joint with optical limits, a physical occlusion band is integrated into robotic structure.

To read the state of an optical switch, the signal is feed to an I²C enabled I/O expander. Hekateros software can read the values via I²C.

Definition at line 148 of file hekOptical.h.

Member Function Documentation

HekOpticalLimit_T hekateros::HekOpticalLimit_T::operator= ( const HekOpticalLimit_T &  rhs )

inline

Assignment operator.

Parameters

rhs	Right hand side object.

Returns

this.

Definition at line 157 of file hekOptical.h.

References m_fCenterPos, m_fMaxBlackPos, m_fMaxEdgePos, m_fMinBlackPos, m_fMinEdgePos, and m_uBit.

    {
      m_uBit          = rhs.m_uBit;
      m_fMinEdgePos   = rhs.m_fMinEdgePos;
      m_fMinBlackPos  = rhs.m_fMinBlackPos;
      m_fCenterPos    = rhs.m_fCenterPos;
      m_fMaxBlackPos  = rhs.m_fMaxBlackPos;
      m_fMaxEdgePos   = rhs.m_fMaxEdgePos;
    }

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

• include/Hekateros/hekOptical.h