CWrapper Class Reference

Robot Communication Wrapper. More...

#include <wrapper.h>

List of all members.

Public Types
enum	COMMUNICATION_COMMANDS {   COMM_NONE, COMM_RFC, COMM_WTC, COMM_RFAX,   COMM_WTAX, COMM_TIME, COMM_RBS, COMM_RLS,   COMM_WLS, COMM_RSAX, COMM_RFAAX, COMM_WTAAX,   COMM_PARAM, COMM = 255 }
	Robot Communication Protocol. More...
Public Member Functions
unsigned long	readTimer ()
	Returns the timer value of the uC TODO: implement on robot.
void	sendControlData (byte id, byte *data, byte len)
	Sends Control/Configuration Data to the robot.
byte	readButtonState (byte id)
	Returns the state of button id on the CM-5 TODO: implement on robot.
byte	readLedState (byte id)
	Returns the state of led id on the CM-5 TODO: implement on robot.
void	writeLedState (byte id, byte state)
	Sets the state of led id on the CM-5 to state TODO: implement on robot.
bool	readFromAx (byte id, byte addr, void *buffer, byte len)
	Reads len bytes from servo/sensor id starting at address addr to buffer.
bool	writeToAx (byte id, byte addr, void *data, byte len, byte schedule)
	Writes len bytes from data to servo/sensor id starting at address addr to buffer.
bool	readFromAllAx (byte addr, void *buffer, int len)
	Reads data from all servos at once (with CRC).
bool	writeToAllAx (byte addr, void *data, int len)
	Writes data from all servos at once (with CRC).
void	runScheduledAx (void)
	Sends the schedule command to all servos.
int	readFromConsole (byte *buffer)
	Returns user input (on the console) on the pc TODO: implement on the pc.
void	writeToConsole (byte *buffer, int len)
	Prints data to the console on the pc TODO: implement on the pc.

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Detailed Description

Robot Communication Wrapper.

Implements the communication protocol. Provides functions to read data from or write data to the robot.

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Member Enumeration Documentation

enum CWrapper::COMMUNICATION_COMMANDS

Robot Communication Protocol.

Enumerator:

COMM_NONE
COMM_RFC
COMM_WTC
COMM_RFAX
COMM_WTAX
COMM_TIME
COMM_RBS
COMM_RLS
COMM_WLS
COMM_RSAX
COMM_RFAAX
COMM_WTAAX
COMM_PARAM
COMM

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Member Function Documentation

unsigned long CWrapper::readTimer

(

)

Returns the timer value of the uC TODO: implement on robot.

void CWrapper::sendControlData	(	byte	id,
		byte *	data,
		byte	len
	)

Sends Control/Configuration Data to the robot.

byte CWrapper::readButtonState

(

byte

id

)

Returns the state of button id on the CM-5 TODO: implement on robot.

byte CWrapper::readLedState

(

byte

id

)

Returns the state of led id on the CM-5 TODO: implement on robot.

void CWrapper::writeLedState	(	byte	id,
		byte	state
	)

Sets the state of led id on the CM-5 to state TODO: implement on robot.

bool CWrapper::readFromAx	(	byte	id,
		byte	addr,
		void *	buffer,
		byte	len
	)

Reads len bytes from servo/sensor id starting at address addr to buffer.

bool CWrapper::writeToAx	(	byte	id,
		byte	addr,
		void *	data,
		byte	len,
		byte	schedule
	)

Writes len bytes from data to servo/sensor id starting at address addr to buffer.

Parameters:

schedule

If set to 1, the data won't be processed by the servos/sensors until runScheduledAx is called (use this to send data synchronously to multiple servos/sensors).

bool CWrapper::readFromAllAx	(	byte	addr,
		void *	buffer,
		int	len
	)

Reads data from all servos at once (with CRC).

The current angle, torque and speed values from all servos will be read. The data is sent as a bit string, use CRobotWrapper::readAx12s to automatically decode it.

Parameters:

	buffer	Has to be of size READOFFSET + AX12_DATA_READ_TOTAL
	len	Has to be READOFFSET + AX12_DATA_READ_TOTAL

bool CWrapper::writeToAllAx	(	byte	addr,
		void *	data,
		int	len
	)

Writes data from all servos at once (with CRC).

The target angle, torque and speed values of all servos will be overwritten. The data is sent as a bit string, use CRobotWrapper::writeAx12s to automatically encode it.

Parameters:

	data	Has to be of size WRITEOFFSET + AX12_DATA_WRITE_TOTAL
	len	Has to be WRITEOFFSET + AX12_DATA_WRITE_TOTAL

void CWrapper::runScheduledAx

(

void

)

Sends the schedule command to all servos.

If data has been sent to multiple servos/sensors via writeToAx with the schedule parameter set to 1, the servos/sensor will take on the new values nearly at the same time if this command is sent.

int CWrapper::readFromConsole

(

byte *

buffer

)

Returns user input (on the console) on the pc TODO: implement on the pc.

void CWrapper::writeToConsole	(	byte *	buffer,
		int	len
	)

Prints data to the console on the pc TODO: implement on the pc.

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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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