ServoInfo Struct Reference

#include <Dynamixel.h>

Inheritance diagram for ServoInfo:

[legend]

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Detailed Description

Definition at line 83 of file Dynamixel.h.

List of all members.

Public Types
enum	RotationMode { POSITION, CONTINUOUS, UNKNOWN }
Public Member Functions
	ServoInfo (unsigned int i=DynamixelProtocol::INVALID_ID)
void	setModel (DynamixelProtocol::ModelID_t m)
DynamixelProtocol::ModelID_t	getModel () const
void	setModelName (const std::string m)
const std::string &	getModelName () const
bool	hasSensorOffset () const
	returns true if any of the AX-S1 sensor offsets are in use
Public Attributes
plist::Primitive< bool >	detected
plist::OutputSelector	output
plist::OutputSelector	led
plist::OutputSelector	freeSpinOutput
plist::Primitive< bool >	invertRotation
plist::Angle	zeroAngle
plist::Primitive< unsigned int >	maxTic
plist::Angle	maxAngle
plist::Primitive< float >	cmdSpeedSlopeP
plist::Primitive< float >	cmdSpeedOffsetP
plist::Primitive< float >	cmdSpeedSlopeN
plist::Primitive< float >	cmdSpeedOffsetN
plist::Primitive< float >	repSpeedSlope
plist::NamedEnumeration < SensorOffset_t >	leftIRDistOffset
plist::NamedEnumeration < SensorOffset_t >	centerIRDistOffset
plist::NamedEnumeration < SensorOffset_t >	rightIRDistOffset
plist::NamedEnumeration < SensorOffset_t >	leftLuminosityOffset
plist::NamedEnumeration < SensorOffset_t >	centerLuminosityOffset
plist::NamedEnumeration < SensorOffset_t >	rightLuminosityOffset
plist::NamedEnumeration < SensorOffset_t >	micVolumeOffset
plist::NamedEnumeration < SensorOffset_t >	micSpikeCountOffset
unsigned int	servoID
float	slope
float	punch
float	margin
enum DynamixelDriver::ServoInfo::RotationMode	curRotationMode
unsigned short	lastCmd
float	recentCmdMotion
unsigned short	failures
float	predictedLoad
float	sensorPriority
	amount to add to sensor activation each sensor check, negative values indicate "auto" mode based on movement speed with decay
float	sensorActivation
	the accumulated "energy" for polling this servo, the servos with highest activation are polled as avaiable
unsigned int	micSpikeFrameNumber
	stores the frame number when the micSpike occurred, so we can tell when the system has received it
Protected Member Functions
void	initEntries ()
Protected Attributes
DynamixelProtocol::ModelID_t	model
std::string	modelName

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Member Enumeration Documentation

enum RotationMode

Enumerator:

POSITION
CONTINUOUS
UNKNOWN

Definition at line 177 of file Dynamixel.h.

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Constructor & Destructor Documentation

ServoInfo

(

unsigned int

i = DynamixelProtocol::INVALID_ID

)

Definition at line 84 of file Dynamixel.h.

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Member Function Documentation

DynamixelProtocol::ModelID_t getModel

(

)

const

Definition at line 134 of file Dynamixel.h.

const std::string& getModelName

(

)

const

Definition at line 136 of file Dynamixel.h.

bool hasSensorOffset

(

)

const

returns true if any of the AX-S1 sensor offsets are in use

Definition at line 139 of file Dynamixel.h.

void initEntries

(

)

[protected]

Definition at line 187 of file Dynamixel.h.

Referenced by ServoInfo::ServoInfo(), and ServoInfo::setModel().

void setModel

(

DynamixelProtocol::ModelID_t

m

)

Definition at line 133 of file Dynamixel.h.

void setModelName

(

const std::string

m

)

Definition at line 135 of file Dynamixel.h.

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Member Data Documentation

plist::NamedEnumeration<SensorOffset_t> centerIRDistOffset

Definition at line 165 of file Dynamixel.h.

Referenced by ServoInfo::hasSensorOffset(), ServoInfo::initEntries(), DynamixelDriver::provideValues(), and ServoInfo::ServoInfo().

plist::NamedEnumeration<SensorOffset_t> centerLuminosityOffset

Definition at line 168 of file Dynamixel.h.

Referenced by ServoInfo::hasSensorOffset(), ServoInfo::initEntries(), DynamixelDriver::provideValues(), and ServoInfo::ServoInfo().

plist::Primitive<float> cmdSpeedOffsetN

Definition at line 160 of file Dynamixel.h.

Referenced by ServoInfo::initEntries().

plist::Primitive<float> cmdSpeedOffsetP

Definition at line 158 of file Dynamixel.h.

Referenced by ServoInfo::initEntries().

plist::Primitive<float> cmdSpeedSlopeN

Definition at line 159 of file Dynamixel.h.

Referenced by ServoInfo::initEntries().

plist::Primitive<float> cmdSpeedSlopeP

Definition at line 157 of file Dynamixel.h.

Referenced by ServoInfo::initEntries().

enum DynamixelDriver::ServoInfo::RotationMode curRotationMode

Referenced by DynamixelDriver::provideValues().

plist::Primitive<bool> detected

Definition at line 146 of file Dynamixel.h.

Referenced by CommThread::cancelled(), ServoInfo::initEntries(), and CommThread::runloop().

unsigned short failures

Definition at line 180 of file Dynamixel.h.

Referenced by CommThread::cancelled(), and CommThread::readResponse().

plist::OutputSelector freeSpinOutput

Definition at line 151 of file Dynamixel.h.

Referenced by ServoInfo::initEntries(), DynamixelDriver::provideValues(), and ServoInfo::ServoInfo().

plist::Primitive<bool> invertRotation

Definition at line 153 of file Dynamixel.h.

Referenced by ServoInfo::initEntries(), and DynamixelDriver::provideValues().

unsigned short lastCmd

Definition at line 178 of file Dynamixel.h.

plist::OutputSelector led

Definition at line 150 of file Dynamixel.h.

Referenced by ServoInfo::initEntries(), and ServoInfo::ServoInfo().

plist::NamedEnumeration<SensorOffset_t> leftIRDistOffset

Definition at line 164 of file Dynamixel.h.

Referenced by ServoInfo::hasSensorOffset(), ServoInfo::initEntries(), DynamixelDriver::provideValues(), and ServoInfo::ServoInfo().

plist::NamedEnumeration<SensorOffset_t> leftLuminosityOffset

Definition at line 167 of file Dynamixel.h.

Referenced by ServoInfo::hasSensorOffset(), ServoInfo::initEntries(), DynamixelDriver::provideValues(), and ServoInfo::ServoInfo().

float margin

Definition at line 176 of file Dynamixel.h.

plist::Angle maxAngle

Definition at line 156 of file Dynamixel.h.

Referenced by ServoInfo::initEntries(), and DynamixelDriver::provideValues().

plist::Primitive<unsigned int> maxTic

Definition at line 155 of file Dynamixel.h.

Referenced by ServoInfo::initEntries(), and DynamixelDriver::provideValues().

plist::NamedEnumeration<SensorOffset_t> micSpikeCountOffset

Definition at line 171 of file Dynamixel.h.

Referenced by ServoInfo::hasSensorOffset(), ServoInfo::initEntries(), DynamixelDriver::provideValues(), and ServoInfo::ServoInfo().

unsigned int micSpikeFrameNumber

stores the frame number when the micSpike occurred, so we can tell when the system has received it

Definition at line 184 of file Dynamixel.h.

Referenced by DynamixelDriver::provideValues().

plist::NamedEnumeration<SensorOffset_t> micVolumeOffset

Definition at line 170 of file Dynamixel.h.

Referenced by ServoInfo::hasSensorOffset(), ServoInfo::initEntries(), DynamixelDriver::provideValues(), and ServoInfo::ServoInfo().

DynamixelProtocol::ModelID_t model [protected]

Definition at line 227 of file Dynamixel.h.

std::string modelName [protected]

Definition at line 228 of file Dynamixel.h.

Referenced by ServoInfo::getModelName(), and ServoInfo::setModelName().

plist::OutputSelector output

Definition at line 149 of file Dynamixel.h.

Referenced by ServoInfo::initEntries(), DynamixelDriver::provideValues(), CommThread::readResponse(), and ServoInfo::ServoInfo().

float predictedLoad

Definition at line 181 of file Dynamixel.h.

float punch

Definition at line 175 of file Dynamixel.h.

float recentCmdMotion

Definition at line 179 of file Dynamixel.h.

Referenced by CommThread::runloop().

plist::Primitive<float> repSpeedSlope

Definition at line 161 of file Dynamixel.h.

Referenced by ServoInfo::initEntries(), and DynamixelDriver::provideValues().

plist::NamedEnumeration<SensorOffset_t> rightIRDistOffset

Definition at line 166 of file Dynamixel.h.

Referenced by ServoInfo::hasSensorOffset(), ServoInfo::initEntries(), DynamixelDriver::provideValues(), and ServoInfo::ServoInfo().

plist::NamedEnumeration<SensorOffset_t> rightLuminosityOffset

Definition at line 169 of file Dynamixel.h.

Referenced by ServoInfo::hasSensorOffset(), ServoInfo::initEntries(), DynamixelDriver::provideValues(), and ServoInfo::ServoInfo().

float sensorActivation

the accumulated "energy" for polling this servo, the servos with highest activation are polled as avaiable

Definition at line 183 of file Dynamixel.h.

Referenced by CommThread::cancelled(), CommThread::readResponse(), and CommThread::runloop().

float sensorPriority

amount to add to sensor activation each sensor check, negative values indicate "auto" mode based on movement speed with decay

Definition at line 182 of file Dynamixel.h.

Referenced by CommThread::runloop().

unsigned int servoID

Definition at line 173 of file Dynamixel.h.

Referenced by CommThread::cancelled(), and CommThread::readResponse().

float slope

Definition at line 174 of file Dynamixel.h.

plist::Angle zeroAngle

Definition at line 154 of file Dynamixel.h.

Referenced by ServoInfo::initEntries(), and DynamixelDriver::provideValues().

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

• Dynamixel.h