rnr::MotRoboteq Class Reference

Inheritance diagram for rnr::MotRoboteq:

Public Member Functions
int	open (const std::string &devName, int baudRate)
	Function opens serial communication with motor controller device. More...
int	close ()
	Function closes serial communication with motor controller device. More...
int	sendCommand (int fd, byte_t *buf, int nBytes, int timeout)
int	recvResponse (int fd, byte_t *buf, int timeout)
Public Member Functions inherited from rnr::Mot
	Mot (float maxSpeed, float minSpeed, float speedStepSize, float maxBrake, float minBrake, float brakeStepSize)
virtual bool	motIDIsValid (int motID)=0
	Function sends commands to the motor controller and receives responses from the motor controller. More...
virtual int	setSpeed (int motID, float speed, units_t units=units_norm)=0
	Description. More...
virtual int	setSpeed (VecSpeedTupples vecSpeedTupple, units_t units=units_norm)=0
	Function updates the speed of all motors simultaneously but individually. More...
virtual int	stop (int motID)=0
	Function stops motor specified. More...
virtual int	eStop ()=0
	Function simultaneously halts motor rotation for all motors by setting speeds to zero. More...
virtual int	eStopRelease ()=0
	Function releases emergency stop condition and allows normal ops. More...
virtual int	getCurrentLimits ()=0
	Function determines if a motor controller can monitor current. More...
virtual int	setCurrentLimits (int motID, int current, units_t units=units_amp)=0
	Function sets minimum and maximum limits for current. More...
virtual int	getCurrent (int motID, units_t units=units_amp)=0
	Function retrieves value for current load on a single motor. More...
virtual int	getVoltageLimits ()=0
	Function retrieves value for current load on a single motor. More...
virtual int	setVoltageLimits (int lowVoltage, int overVoltage)=0
	Function sets the minimum and maximum limits for applied voltage for all motors. More...
virtual int	getVoltage ()=0
	Function retrieves value for voltage applied to a single motor. More...
virtual int	setSpeedProfile (int motID, int accel, int decel=-1)=0
	Function retrieves value for voltage applied to a single motor. More...

Protected Attributes
int	m_fd
int	m_ntimeout
int	m_nbaudRate
Protected Attributes inherited from rnr::Mot
float	m_fMaxSpeed
	Function sets the acce1 leration rate for motors. More...
float	m_fMinSpeed
float	m_fSpeedStepSize
float	m_fMaxBrake
float	m_fMinBrake
float	m_fBrakeStepSize

Additional Inherited Members
Public Types inherited from rnr::Mot
typedef std::vector< IDFloatTupple >	VecSpeedTupples
typedef std::vector< IDIntTupple >	VecSpeedRawTupples
typedef std::vector< int >	VecMotID

Detailed Description

Definition at line 63 of file MotRoboteq.h.

Member Function Documentation

int rnr::MotRoboteq::close ( )

virtual

Function closes serial communication with motor controller device.

Uses SerDevClose to close serial connection. Returns: 0 on success, -1 on fail.

Implements rnr::Mot.

int rnr::MotRoboteq::open ( const std::string &  devName, int  baudRate  )

virtual

Function opens serial communication with motor controller device.

Uses SerDevOpen to open serial connection with device (devName) Returns: File descriptor >=0 on success, -1 on fail.

Implements rnr::Mot.

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

• include/rnr/mot/MotRoboteq.h