EmergencyStopMC Class Reference

overrides all joints with high priority freeze, blinks tail pink/red/blue cycle More...

#include <EmergencyStopMC.h>

Inheritance diagram for EmergencyStopMC:

Detailed Description

overrides all joints with high priority freeze, blinks tail pink/red/blue cycle

Uses MotionCommand::kEmergencyPriority. Monitors the feedback on joints and adjusts joints to react to pressures above a certain threshold. This allows you to mold the body while it's in this mode, while retaining enough stiffness to hold against gravity.

This MotionCommand is intended to always be left running. It polls WorldState::state for a double-tap on the back button, which causes it to set its joint values. to whatever their current state is. LEDs are left blank, except the tail, which is used to indicate that the emergency stop is on.

A second double-tap will cause it to set all joints to 0 weight

The tail LEDs only ever go up to .5, so that if you really care whether the tail light was set by an underlying behavior/motion, you should be able to tell by looking closely (if blue is going from .5 to 1, that's because it's already set)

Definition at line 26 of file EmergencyStopMC.h.

List of all members.

Public Member Functions
	EmergencyStopMC ()
	constructor
virtual	~EmergencyStopMC ()
	destructor
virtual int	updateOutputs ()
	checks for feedback or double tap
void	setActive (bool a)
	allows you to modify active
bool	getActive ()
	returns active
void	setStopped (bool p, bool sound=true)
	allows you to modify paused
bool	getStopped () const
	returns paused
void	setDblTapDuration (unsigned int d)
	sets duration
unsigned int	getDblTapDuration () const
	returns duration
void	setResetSensitivity (float r)
	takes a value to set pidcutoff
float	getResetSensitivity ()
	returns pidcutoff
Protected Member Functions
void	freezeJoints ()
	code to execute when locking joints
void	releaseJoints ()
	code to execute when releasing joints
Static Protected Member Functions
static bool	trigger ()
	true when the trigger condition is active
Protected Attributes
bool	paused
	true if the joints are current locked up
bool	stilldown
	true if the back button was down on last updateJointCmds
bool	active
	true if the EmergencyStopMC is monitoring the back button (if false, won't pause on a double-tap)
unsigned int	period
	period of cycles on tail LEDs
unsigned int	timeoflastbtn
	time of the last button press
unsigned int	timeofthisbtn
	time of the current button press
unsigned int	timeoflastfreeze
	the time estop was last turned on
unsigned int	timeoflastrelease
	the time estop was last turned off (may be in the future if still fading out control of joints!)
unsigned int	duration
	the maximum time (in milliseconds) of consecutive button-down's to count as a double tap
float	piddutyavgs [NumPIDJoints]
	a running average of PID feedback ("duty"), so one bad reading doesn't cause a movement, need a consistent pressure
float	pidcutoff
	abs pid duty cycle above which we just reset joint to current
LedEngine	ledengine
	used to do LED effects on the tail
Static Protected Attributes
static const unsigned int	FADE_OUT_TIME = 400
	number of milliseconds to fade out lock on joints