YouBotJoint Class Reference

youBot joint for the base and the manipulator. More...

#include <YouBotJoint.hpp>

Inheritance diagram for YouBotJoint:

Public Member Functions
	YouBotJoint (const unsigned int jointNo, const std::string &configFilePath="../config/")
	~YouBotJoint ()
virtual void	getConfigurationParameter (YouBotJointParameterReadOnly &parameter)
virtual void	getConfigurationParameter (YouBotJointParameter &parameter)
virtual void	setConfigurationParameter (const YouBotJointParameter &parameter)
virtual void	getConfigurationParameter (JointName &parameter)
virtual void	setConfigurationParameter (const JointName &parameter)
virtual void	getConfigurationParameter (GearRatio &parameter)
virtual void	setConfigurationParameter (const GearRatio &parameter)
virtual void	getConfigurationParameter (EncoderTicksPerRound &parameter)
virtual void	setConfigurationParameter (const EncoderTicksPerRound &parameter)
virtual void	setConfigurationParameter (const CalibrateJoint &parameter)
virtual void	setConfigurationParameter (const InverseMovementDirection &parameter)
virtual void	getConfigurationParameter (InverseMovementDirection &parameter)
virtual void	setConfigurationParameter (const JointLimits &parameter)
virtual void	getConfigurationParameter (JointLimits &parameter)
virtual void	getConfigurationParameter (JointLimitsRadian &parameter)
virtual void	setConfigurationParameter (const InitializeJoint &parameter)
	commutation method for firmware 1.48 and below
virtual void	getConfigurationParameter (FirmwareVersion &parameter)
virtual void	setConfigurationParameter (const YouBotSlaveMailboxMsg &parameter)
	this method should be only used if you know what you are doing
virtual void	getConfigurationParameter (YouBotSlaveMailboxMsg &parameter)
	this method should be only used if you know what you are doing
virtual void	getConfigurationParameter (TorqueConstant &parameter)
virtual void	setConfigurationParameter (const TorqueConstant &parameter)
void	storeConfigurationParameterPermanent (const YouBotJointParameter &parameter)
	stores the joint parameter permanent in the EEPROM of the motor contoller Attentions: The EEPROM has only a finite number of program-erase cycles
void	restoreConfigurationParameter (YouBotJointParameter &parameter)
	Restores the joint parameter from the EEPROM.
virtual void	setData (const JointAngleSetpoint &data)
	commands a position or angle to one joint
virtual void	setData (const JointEncoderSetpoint &data)
	commands a encoder value (position) to one joint
virtual void	getData (JointSensedAngle &data)
	gets the position or angle of one joint which have been calculated from the actual encoder value
virtual void	setData (const JointVelocitySetpoint &data)
	commands a velocity to one joint
virtual void	getData (JointSensedVelocity &data)
	gets the velocity of one joint
virtual void	getData (JointSensedRoundsPerMinute &data)
	gets the velocity in round per minute of one joint
virtual void	setData (const JointRoundsPerMinuteSetpoint &data)
	sets the velocity in round per minute to one joint
virtual void	getData (JointSensedCurrent &data)
	gets the motor current of one joint which have been measured by a hal sensor
virtual void	setData (const JointCurrentSetpoint &data)
	commands a current to one joint
virtual void	getData (JointSensedEncoderTicks &data)
	gets the encoder ticks of one joint
virtual void	setData (const SlaveMessageOutput &data)
	sets the output part of a EtherCAT slave message this methode should be only used if you know what you are doing
virtual void	getData (YouBotSlaveMsg &data)
	gets the input and ouput part of a EtherCAT slave message this methode should be only used if you know what you are doing
virtual void	setData (const JointTorqueSetpoint &data)
	commands a torque to one joint
virtual void	getData (JointSensedTorque &data)
	gets the motor torque of one joint which have been calculated from the current
virtual void	getData (JointAngleSetpoint &data)
	gets the target or setpoint position of one joint (only firmware 2.0 or higher)
virtual void	getData (JointVelocitySetpoint &data)
	gets the target or setpoint velocity of one joint (only firmware 2.0 or higher)
virtual void	getData (JointCurrentSetpoint &data)
	gets the motor current target or setpoint of one joint (only firmware 2.0 or higher)
virtual void	getData (JointRampGeneratorVelocity &data)
	gets the ramp generator velocity of one joint (only firmware 2.0 or higher)
void	getUserVariable (const unsigned int index, int &data)
void	setUserVariable (const unsigned int index, const int data)
virtual void	getStatus (std::vector< std::string > &statusMessages)
	Returns the status messages for the motor controller.
virtual void	getStatus (unsigned int &statusFlags)
	Returns the status messages as status flags for the motor controller.
void	setEncoderToZero ()
	set the encoder values of the joint to zero. This postion will be the new reference.
void	noMoreAction ()
void	stopJoint ()
unsigned int	getJointNumber ()
Data Fields
JointTrajectoryController	trajectoryController
Protected Member Functions
virtual void	setConfigurationParameter (const JointParameter &parameter)
virtual void	getConfigurationParameter (JointParameter &parameter)
virtual void	setData (const JointDataSetpoint &data)
virtual void	getData (JointData &data)

Detailed Description

youBot joint for the base and the manipulator.

Every motor, encoder, transmition combination of the youBot base or manipulator is a YouBotJoint

Definition at line 84 of file YouBotJoint.hpp.

Constructor & Destructor Documentation

YouBotJoint	(	const unsigned int	jointNo,
		const std::string &	configFilePath = `"../config/"`
	)

Definition at line 54 of file YouBotJoint.cpp.

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~YouBotJoint ( )

Definition at line 71 of file YouBotJoint.cpp.

Member Function Documentation

void getConfigurationParameter ( TorqueConstant & parameter ) [virtual]

Definition at line 377 of file YouBotJoint.cpp.

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void getConfigurationParameter ( YouBotSlaveMailboxMsg & parameter ) [virtual]

this method should be only used if you know what you are doing

Definition at line 368 of file YouBotJoint.cpp.

void getConfigurationParameter ( FirmwareVersion & parameter ) [virtual]

Definition at line 306 of file YouBotJoint.cpp.

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void getConfigurationParameter ( JointLimitsRadian & parameter ) [virtual]

Definition at line 286 of file YouBotJoint.cpp.

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void getConfigurationParameter ( JointLimits & parameter ) [virtual]

Definition at line 280 of file YouBotJoint.cpp.

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void getConfigurationParameter ( InverseMovementDirection & parameter ) [virtual]

Definition at line 250 of file YouBotJoint.cpp.

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void getConfigurationParameter ( EncoderTicksPerRound & parameter ) [virtual]

Definition at line 171 of file YouBotJoint.cpp.

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void getConfigurationParameter ( GearRatio & parameter ) [virtual]

Definition at line 156 of file YouBotJoint.cpp.

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void getConfigurationParameter ( JointName & parameter ) [virtual]

Definition at line 144 of file YouBotJoint.cpp.

void getConfigurationParameter ( YouBotJointParameter & parameter ) [virtual]

Definition at line 108 of file YouBotJoint.cpp.

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void getConfigurationParameter ( YouBotJointParameterReadOnly & parameter ) [virtual]

Definition at line 88 of file YouBotJoint.cpp.

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void getConfigurationParameter ( JointParameter & parameter ) [protected, virtual]

Implements Joint.

Definition at line 82 of file YouBotJoint.cpp.

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void getData ( JointRampGeneratorVelocity & data ) [virtual]

gets the ramp generator velocity of one joint (only firmware 2.0 or higher)

Parameters:

data

returns the velocity by reference

Definition at line 869 of file YouBotJoint.cpp.

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void getData ( JointCurrentSetpoint & data ) [virtual]

gets the motor current target or setpoint of one joint (only firmware 2.0 or higher)

Parameters:

data

returns the motor current by reference

Definition at line 848 of file YouBotJoint.cpp.

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void getData ( JointVelocitySetpoint & data ) [virtual]

gets the target or setpoint velocity of one joint (only firmware 2.0 or higher)

Parameters:

data

returns the velocity by reference

Definition at line 823 of file YouBotJoint.cpp.

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void getData ( JointAngleSetpoint & data ) [virtual]

gets the target or setpoint position of one joint (only firmware 2.0 or higher)

Parameters:

data

returns the angle by reference

Definition at line 796 of file YouBotJoint.cpp.

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void getData ( JointSensedTorque & data ) [virtual]

gets the motor torque of one joint which have been calculated from the current

Parameters:

data

returns the actual motor torque by reference

Definition at line 778 of file YouBotJoint.cpp.

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void getData ( YouBotSlaveMsg & data ) [virtual]

gets the input and ouput part of a EtherCAT slave message this methode should be only used if you know what you are doing

Parameters:

data

returns the sensor values by reference

Definition at line 743 of file YouBotJoint.cpp.

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void getData ( JointSensedEncoderTicks & data ) [virtual]

gets the encoder ticks of one joint

Parameters:

data

returns the ticks by reference

Definition at line 701 of file YouBotJoint.cpp.

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void getData ( JointSensedCurrent & data ) [virtual]

gets the motor current of one joint which have been measured by a hal sensor

Parameters:

data

returns the actual motor current by reference

Definition at line 658 of file YouBotJoint.cpp.

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void getData ( JointSensedRoundsPerMinute & data ) [virtual]

gets the velocity in round per minute of one joint

Parameters:

data

returns the velocity by reference

Definition at line 615 of file YouBotJoint.cpp.

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void getData ( JointSensedVelocity & data ) [virtual]

gets the velocity of one joint

Parameters:

data

returns the velocity by reference

Definition at line 590 of file YouBotJoint.cpp.

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void getData ( JointSensedAngle & data ) [virtual]

gets the position or angle of one joint which have been calculated from the actual encoder value

Parameters:

data

returns the angle by reference

Definition at line 535 of file YouBotJoint.cpp.

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void getData ( JointData & data ) [protected, virtual]

Implements Joint.

Definition at line 434 of file YouBotJoint.cpp.

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unsigned int getJointNumber ( )

Definition at line 1104 of file YouBotJoint.cpp.

void getStatus ( unsigned int & statusFlags ) [virtual]

Returns the status messages as status flags for the motor controller.

The status flag bits are assigned like this: 0: Overcurrent 1: Undervoltage 2: Overvoltage 3: Overtemperature 4: Motor halted 5: Hall error flag 6: --- 7: --- 8: PWM mode active 9: Velocity mode active 10: Position mode active 11: Torque mode active 12: --- 13: --- 14: Position end flag 15: Module initialized 16: EtherCAT timeout flag 17: I2t exceeded flag

Definition at line 1040 of file YouBotJoint.cpp.

void getStatus ( std::vector< std::string > & statusMessages ) [virtual]

Returns the status messages for the motor controller.

Definition at line 937 of file YouBotJoint.cpp.

void getUserVariable	(	const unsigned int	index,
		int &	data
	)

Definition at line 892 of file YouBotJoint.cpp.

void noMoreAction ( )

Definition at line 1076 of file YouBotJoint.cpp.

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void restoreConfigurationParameter ( YouBotJointParameter & parameter )

Restores the joint parameter from the EEPROM.

Definition at line 410 of file YouBotJoint.cpp.

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void setConfigurationParameter ( const TorqueConstant & parameter ) [virtual]

Definition at line 383 of file YouBotJoint.cpp.

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void setConfigurationParameter ( const YouBotSlaveMailboxMsg & parameter ) [virtual]

this method should be only used if you know what you are doing

Definition at line 359 of file YouBotJoint.cpp.

void setConfigurationParameter ( const InitializeJoint & parameter ) [virtual]

commutation method for firmware 1.48 and below

Definition at line 295 of file YouBotJoint.cpp.

void setConfigurationParameter ( const JointLimits & parameter ) [virtual]

Definition at line 256 of file YouBotJoint.cpp.

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void setConfigurationParameter ( const InverseMovementDirection & parameter ) [virtual]

Definition at line 244 of file YouBotJoint.cpp.

void setConfigurationParameter ( const CalibrateJoint & parameter ) [virtual]

Definition at line 186 of file YouBotJoint.cpp.

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void setConfigurationParameter ( const EncoderTicksPerRound & parameter ) [virtual]

Definition at line 177 of file YouBotJoint.cpp.

void setConfigurationParameter ( const GearRatio & parameter ) [virtual]

Definition at line 162 of file YouBotJoint.cpp.

void setConfigurationParameter ( const JointName & parameter ) [virtual]

Definition at line 150 of file YouBotJoint.cpp.

void setConfigurationParameter ( const YouBotJointParameter & parameter ) [virtual]

Definition at line 127 of file YouBotJoint.cpp.

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void setConfigurationParameter ( const JointParameter & parameter ) [protected, virtual]

Implements Joint.

Definition at line 76 of file YouBotJoint.cpp.

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void setData ( const JointTorqueSetpoint & data ) [virtual]

commands a torque to one joint

Parameters:

data

the to command torque

Definition at line 759 of file YouBotJoint.cpp.

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void setData ( const SlaveMessageOutput & data ) [virtual]

sets the output part of a EtherCAT slave message this methode should be only used if you know what you are doing

Parameters:

data

output part of a EtherCAT slave message

Definition at line 724 of file YouBotJoint.cpp.

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void setData ( const JointCurrentSetpoint & data ) [virtual]

commands a current to one joint

Parameters:

data

the to command current

Definition at line 679 of file YouBotJoint.cpp.

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void setData ( const JointRoundsPerMinuteSetpoint & data ) [virtual]

sets the velocity in round per minute to one joint

Parameters:

data

the setpoint velocity

Definition at line 635 of file YouBotJoint.cpp.

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void setData ( const JointVelocitySetpoint & data ) [virtual]

commands a velocity to one joint

Parameters:

data

the to command velocity

Definition at line 562 of file YouBotJoint.cpp.

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void setData ( const JointEncoderSetpoint & data ) [virtual]

commands a encoder value (position) to one joint

Parameters:

data

the to command encoder value

Definition at line 497 of file YouBotJoint.cpp.

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void setData ( const JointAngleSetpoint & data ) [virtual]

commands a position or angle to one joint

Parameters:

data

the to command position

Definition at line 442 of file YouBotJoint.cpp.

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void setData ( const JointDataSetpoint & data ) [protected, virtual]

Implements Joint.

Definition at line 428 of file YouBotJoint.cpp.

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void setEncoderToZero ( )

set the encoder values of the joint to zero. This postion will be the new reference.

Definition at line 1050 of file YouBotJoint.cpp.

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void setUserVariable	(	const unsigned int	index,
		const int	data
	)

Definition at line 915 of file YouBotJoint.cpp.

void stopJoint ( )

Definition at line 1090 of file YouBotJoint.cpp.

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void storeConfigurationParameterPermanent ( const YouBotJointParameter & parameter )

stores the joint parameter permanent in the EEPROM of the motor contoller Attentions: The EEPROM has only a finite number of program-erase cycles

Definition at line 391 of file YouBotJoint.cpp.

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Field Documentation

JointTrajectoryController trajectoryController

Definition at line 287 of file YouBotJoint.hpp.

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

YouBotJoint Class Reference

Public Member Functions

Data Fields

Protected Member Functions

Detailed Description

Constructor & Destructor Documentation

Member Function Documentation

Field Documentation