CRobotWrapper Class Reference

Robot (Servos, Sensors, Leds, Buttons, Hardware Abstraction). More...

#include <wrapper.h>

List of all members.

Public Types

enum  AXS1S { AXS1_1 = 0 }
 Sensor modules (AxS1s). More...
enum  BUTTON_IDS {
  BUTTON_UP, BUTTON_DOWN, BUTTON_LEFT, BUTTON_RIGHT,
  BUTTON_START, BUTTON_MODE, BUTTON_COUNT
}
 Buttons. More...
enum  AX12S {
  AX12_1 = 0, AX12_2, AX12_3, AX12_4,
  AX12_5, AX12_6, AX12_7, AX12_8,
  AX12_9, AX12_10, AX12_11, AX12_12,
  AX12_13, AX12_14, AX12_15, AX12_16,
  AX12_17, AX12_18
}
 Servo motors (Ax12s). More...

Public Member Functions

 CRobotWrapper ()
void loadPidFromXml (TiXmlElement *controllerNode)
void loadAx12FromXml (TiXmlElement *ax12Node)
bool readAx12s ()
 Reads all servo motor information from robot.
bool writeAx12s ()
 Writes all servo motor information to robot.
void readAxs1s ()
 Reads all sensor module information from robot.
void writeAxs1s ()
 Writes all sensor module information to robot.
void readButtons ()
 Reads all button information from robot.
void readLeds ()
 Reads all led information from robot.
void writeLeds ()
 Writes all led information to robot.
unsigned long getTime ()
 Reads current tickcount from uC.
void holdPosition ()
 Sets target angle of every servo motor to its current angle.
void enableTorque (bool enable)
 Enables or disables torque of all servo motors.

Public Attributes

CButton Buttons [BUTTON_COUNT]
 Buttons.
CLed Leds [LED_COUNT]
 Leds.
CAx12 Ax12s [AX12_COUNT]
 Servo motors (Ax12s).
CAxs1 Axs1s [AXS1_COUNT]
 Sensor modules (AxS1s).


Detailed Description

Robot (Servos, Sensors, Leds, Buttons, Hardware Abstraction).

The robot wrapper holds information about all servo motors, sensors, leds and buttons. The information can be updated by calling the read/write functions.


Member Enumeration Documentation

enum CRobotWrapper::AXS1S

Sensor modules (AxS1s).

Enumerator:
AXS1_1 

enum CRobotWrapper::BUTTON_IDS

Buttons.

Enumerator:
BUTTON_UP 
BUTTON_DOWN 
BUTTON_LEFT 
BUTTON_RIGHT 
BUTTON_START 
BUTTON_MODE 
BUTTON_COUNT 

enum CRobotWrapper::AX12S

Servo motors (Ax12s).

Enumerator:
AX12_1 
AX12_2 
AX12_3 
AX12_4 
AX12_5 
AX12_6 
AX12_7 
AX12_8 
AX12_9 
AX12_10 
AX12_11 
AX12_12 
AX12_13 
AX12_14 
AX12_15 
AX12_16 
AX12_17 
AX12_18 


Constructor & Destructor Documentation

CRobotWrapper::CRobotWrapper (  ) 


Member Function Documentation

void CRobotWrapper::loadPidFromXml ( TiXmlElement *  controllerNode  ) 

void CRobotWrapper::loadAx12FromXml ( TiXmlElement *  ax12Node  ) 

bool CRobotWrapper::readAx12s (  ) 

Reads all servo motor information from robot.

bool CRobotWrapper::writeAx12s (  ) 

Writes all servo motor information to robot.

void CRobotWrapper::readAxs1s (  ) 

Reads all sensor module information from robot.

void CRobotWrapper::writeAxs1s (  ) 

Writes all sensor module information to robot.

void CRobotWrapper::readButtons (  ) 

Reads all button information from robot.

void CRobotWrapper::readLeds (  ) 

Reads all led information from robot.

void CRobotWrapper::writeLeds (  ) 

Writes all led information to robot.

unsigned long CRobotWrapper::getTime (  ) 

Reads current tickcount from uC.

void CRobotWrapper::holdPosition (  ) 

Sets target angle of every servo motor to its current angle.

Reduces beeping of the servo motors

void CRobotWrapper::enableTorque ( bool  enable  ) 

Enables or disables torque of all servo motors.

Reduces the torque to a minimum so the user can move the robot links by hand.


Member Data Documentation

CButton CRobotWrapper::Buttons[BUTTON_COUNT]

Buttons.

CLed CRobotWrapper::Leds[LED_COUNT]

Leds.

CAx12 CRobotWrapper::Ax12s[AX12_COUNT]

Servo motors (Ax12s).

CAxs1 CRobotWrapper::Axs1s[AXS1_COUNT]

Sensor modules (AxS1s).


The documentation for this class was generated from the following files:
Generated on Mon Apr 21 23:27:45 2008 for BioloidControl by  doxygen 1.5.2