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).

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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.

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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

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Constructor & Destructor Documentation

CRobotWrapper::CRobotWrapper

(

)

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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.

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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).

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

• include/wrapper.h
• src/wrapper.cpp

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