EmergencyStopMC Class Reference
#include <EmergencyStopMC.h>
Inheritance diagram for EmergencyStopMC:
Detailed Description
overrides all joints with high priority freeze, blinks tail pink/red/blue cycleUses 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 24 of file EmergencyStopMC.h.
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 | |
Constructor & Destructor Documentation
| EmergencyStopMC::EmergencyStopMC | ( | ) |
| virtual EmergencyStopMC::~EmergencyStopMC | ( | ) | [inline, virtual] |
Member Function Documentation
| void EmergencyStopMC::freezeJoints | ( | ) | [protected] |
code to execute when locking joints
Definition at line 160 of file EmergencyStopMC.cc.
Referenced by setActive(), and setStopped().
| bool EmergencyStopMC::getActive | ( | ) | [inline] |
| unsigned int EmergencyStopMC::getDblTapDuration | ( | ) | const [inline] |
| float EmergencyStopMC::getResetSensitivity | ( | ) | [inline] |
| bool EmergencyStopMC::getStopped | ( | ) | const [inline] |
| void EmergencyStopMC::releaseJoints | ( | ) | [protected] |
code to execute when releasing joints
Definition at line 194 of file EmergencyStopMC.cc.
Referenced by setActive(), and setStopped().
| void EmergencyStopMC::setActive | ( | bool | a | ) |
| void EmergencyStopMC::setDblTapDuration | ( | unsigned int | d | ) | [inline] |
| void EmergencyStopMC::setResetSensitivity | ( | float | r | ) | [inline] |
| void EmergencyStopMC::setStopped | ( | bool | p, | |
| bool | sound = true | |||
| ) |
allows you to modify paused
Definition at line 141 of file EmergencyStopMC.cc.
Referenced by updateOutputs().
| bool EmergencyStopMC::trigger | ( | ) | [static, protected] |
true when the trigger condition is active
Definition at line 202 of file EmergencyStopMC.cc.
Referenced by updateOutputs().
| int EmergencyStopMC::updateOutputs | ( | ) | [virtual] |
checks for feedback or double tap
Reimplemented from PostureMC.
Definition at line 41 of file EmergencyStopMC.cc.
Member Data Documentation
bool EmergencyStopMC::active [protected] |
true if the EmergencyStopMC is monitoring the back button (if false, won't pause on a double-tap)
Definition at line 48 of file EmergencyStopMC.h.
Referenced by getActive(), setActive(), and setStopped().
unsigned int EmergencyStopMC::duration [protected] |
the maximum time (in milliseconds) of consecutive button-down's to count as a double tap
Definition at line 54 of file EmergencyStopMC.h.
Referenced by getDblTapDuration(), setDblTapDuration(), and updateOutputs().
const unsigned int EmergencyStopMC::FADE_OUT_TIME = 400 [static, protected] |
number of milliseconds to fade out lock on joints
Definition at line 44 of file EmergencyStopMC.h.
Referenced by releaseJoints(), and updateOutputs().
LedEngine EmergencyStopMC::ledengine [protected] |
used to do LED effects on the tail
Definition at line 57 of file EmergencyStopMC.h.
Referenced by EmergencyStopMC().
bool EmergencyStopMC::paused [protected] |
true if the joints are current locked up
Definition at line 46 of file EmergencyStopMC.h.
Referenced by getStopped(), setActive(), setStopped(), and updateOutputs().
unsigned int EmergencyStopMC::period [protected] |
period of cycles on tail LEDs
Definition at line 49 of file EmergencyStopMC.h.
Referenced by EmergencyStopMC().
float EmergencyStopMC::pidcutoff [protected] |
abs pid duty cycle above which we just reset joint to current
Definition at line 56 of file EmergencyStopMC.h.
Referenced by getResetSensitivity(), setResetSensitivity(), and updateOutputs().
float EmergencyStopMC::piddutyavgs[NumPIDJoints] [protected] |
a running average of PID feedback ("duty"), so one bad reading doesn't cause a movement, need a consistent pressure
Definition at line 55 of file EmergencyStopMC.h.
Referenced by EmergencyStopMC(), freezeJoints(), and updateOutputs().
bool EmergencyStopMC::stilldown [protected] |
true if the back button was down on last updateJointCmds
Definition at line 47 of file EmergencyStopMC.h.
Referenced by updateOutputs().
unsigned int EmergencyStopMC::timeoflastbtn [protected] |
time of the last button press
Definition at line 50 of file EmergencyStopMC.h.
Referenced by updateOutputs().
unsigned int EmergencyStopMC::timeoflastfreeze [protected] |
the time estop was last turned on
Definition at line 52 of file EmergencyStopMC.h.
Referenced by releaseJoints(), and updateOutputs().
unsigned int EmergencyStopMC::timeoflastrelease [protected] |
the time estop was last turned off (may be in the future if still fading out control of joints!)
Definition at line 53 of file EmergencyStopMC.h.
Referenced by releaseJoints(), and updateOutputs().
unsigned int EmergencyStopMC::timeofthisbtn [protected] |
time of the current button press
Definition at line 51 of file EmergencyStopMC.h.
Referenced by updateOutputs().
The documentation for this class was generated from the following files:
