YARP
Yet Another Robot Platform
ControlBoardInterfaces.h
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1 /*
2  * Copyright (C) 2006-2019 Istituto Italiano di Tecnologia (IIT)
3  * Copyright (C) 2006-2010 RobotCub Consortium
4  * All rights reserved.
5  *
6  * This software may be modified and distributed under the terms of the
7  * BSD-3-Clause license. See the accompanying LICENSE file for details.
8  */
9 
10 #ifndef YARP_DEV_CONTROLBOARDINTERFACES_H
11 #define YARP_DEV_CONTROLBOARDINTERFACES_H
12 
13 #include <yarp/os/Vocab.h>
14 
15 #include <yarp/dev/DeviceDriver.h>
18 
21 #include <yarp/dev/IEncoders.h>
24 #include <yarp/dev/IControlMode2.h>
31 #include <yarp/dev/IPWMControl.h>
32 #include <yarp/dev/IPidControl.h>
36 #include <yarp/dev/IMotor.h>
38 #include <yarp/dev/IControlDebug.h>
41 #include <yarp/dev/IAxisInfo.h>
43 
44 /* Vocabs representing the above interfaces */
48 
49 // interface IPositionControl sets
54 
62 
63 // interface IVelocityControl sets
67 
68 // protocol version
70 
71 #endif // YARP_DEV_CONTROLBOARDINTERFACES_H
constexpr yarp::conf::vocab32_t VOCAB_REF_ACCELERATIONS
constexpr yarp::conf::vocab32_t VOCAB_VELOCITY_MODE
constexpr yarp::conf::vocab32_t VOCAB_VELOCITY_MOVE
constexpr yarp::conf::vocab32_t VOCAB_POSITION_MODE
constexpr yarp::conf::vocab32_t VOCAB_RELATIVE_MOVE
constexpr yarp::conf::vocab32_t VOCAB_REF_SPEEDS
constexpr yarp::conf::vocab32_t VOCAB_POSITION_MOVES
std::int32_t vocab32_t
Definition: numeric.h:52
constexpr yarp::conf::vocab32_t VOCAB_MOTION_DONE
define control board standard interfaces
constexpr yarp::conf::vocab32_t VOCAB_STOP
constexpr yarp::conf::vocab32_t VOCAB_STOPS
define control board standard interfaces
constexpr yarp::conf::vocab32_t VOCAB_MOTION_DONES
constexpr yarp::conf::vocab32_t VOCAB_PROTOCOL_VERSION
constexpr yarp::conf::vocab32_t createVocab(char a, char b=0, char c=0, char d=0)
Definition: Vocab.h:22
constexpr yarp::conf::vocab32_t VOCAB_VELOCITY_MOVES
define control board standard interfaces
constexpr yarp::conf::vocab32_t VOCAB_RELATIVE_MOVES
constexpr yarp::conf::vocab32_t VOCAB_REF_SPEED
define control board standard interfaces
constexpr yarp::conf::vocab32_t VOCAB_POSITION_MOVE
constexpr yarp::conf::vocab32_t VOCAB_REF_ACCELERATION
constexpr yarp::conf::vocab32_t VOCAB_TIMESTAMP