YARP
Yet Another Robot Platform
 
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RemoteControlBoard.h
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1/*
2 * SPDX-FileCopyrightText: 2006-2021 Istituto Italiano di Tecnologia (IIT)
3 * SPDX-FileCopyrightText: 2006-2010 RobotCub Consortium
4 * SPDX-License-Identifier: BSD-3-Clause
5 */
6
7#ifndef YARP_DEV_REMOTECONTROLBOARD_REMOTECONTROLBOARD_H
8#define YARP_DEV_REMOTECONTROLBOARD_REMOTECONTROLBOARD_H
9
10#include <yarp/sig/Vector.h>
11
12#include <yarp/dev/IPidControl.h>
13#include <yarp/dev/IPositionControl.h>
14#include <yarp/dev/IVelocityControl.h>
15#include <yarp/dev/IEncodersTimed.h>
16#include <yarp/dev/IMotorEncoders.h>
17#include <yarp/dev/IMotor.h>
18#include <yarp/dev/IAmplifierControl.h>
19#include <yarp/dev/IControlLimits.h>
20#include <yarp/dev/IAxisInfo.h>
21#include <yarp/dev/IPreciselyTimed.h>
22#include <yarp/dev/IControlCalibration.h>
23#include <yarp/dev/ITorqueControl.h>
24#include <yarp/dev/IImpedanceControl.h>
25#include <yarp/dev/IControlMode.h>
26#include <yarp/dev/DeviceDriver.h>
27#include <yarp/dev/IPositionDirect.h>
28#include <yarp/dev/IInteractionMode.h>
29#include <yarp/dev/IRemoteCalibrator.h>
30#include <yarp/dev/IRemoteVariables.h>
31#include <yarp/dev/IPWMControl.h>
32#include <yarp/dev/ICurrentControl.h>
33#include <yarp/dev/IJointFault.h>
34#include <yarp/dev/ControlBoardHelpers.h>
35
36#include "stateExtendedReader.h"
37#include "RemoteControlBoard_ParamsParser.h"
38
39struct ProtocolVersion
40{
41 int major{0};
42 int minor{0};
43 int tweak{0};
44};
45
46class DiagnosticThread;
47
48
60class RemoteControlBoard :
61 public yarp::dev::IPidControl,
62 public yarp::dev::IPositionControl,
63 public yarp::dev::IVelocityControl,
64 public yarp::dev::IEncodersTimed,
65 public yarp::dev::IMotorEncoders,
66 public yarp::dev::IMotor,
67 public yarp::dev::IAmplifierControl,
68 public yarp::dev::IControlLimits,
69 public yarp::dev::IAxisInfo,
70 public yarp::dev::IPreciselyTimed,
71 public yarp::dev::IControlCalibration,
72 public yarp::dev::ITorqueControl,
73 public yarp::dev::IImpedanceControl,
74 public yarp::dev::IControlMode,
75 public yarp::dev::DeviceDriver,
76 public yarp::dev::IPositionDirect,
77 public yarp::dev::IInteractionMode,
78 public yarp::dev::IRemoteCalibrator,
79 public yarp::dev::IRemoteVariables,
80 public yarp::dev::IPWMControl,
81 public yarp::dev::ICurrentControl,
82 public yarp::dev::IJointFault,
83 public RemoteControlBoard_ParamsParser
84{
85protected:
86 yarp::os::Port rpc_p;
87 yarp::os::Port command_p;
88 DiagnosticThread *diagnosticThread{nullptr};
89
90 yarp::os::PortReaderBuffer<yarp::sig::Vector> state_buffer;
91 yarp::os::PortWriterBuffer<CommandMessage> command_buffer;
92 bool writeStrict_singleJoint{true};
93 bool writeStrict_moreJoints{false};
94
95 // Buffer associated to the extendedOutputStatePort port; in this case we will use the type generated
96 // from the YARP .thrift file
97// yarp::os::PortReaderBuffer<jointData> extendedInputState_buffer; // Buffer storing new data
98 StateExtendedInputPort extendedIntputStatePort; // Buffered port storing new data
99 std::mutex extendedPortMutex;
100 yarp::dev::impl::jointData last_singleJoint; // tmp to store last received data for a particular joint
101// yarp::os::Port extendedIntputStatePort; // Port /stateExt:i reading the state of the joints
102 yarp::dev::impl::jointData last_wholePart; // tmp to store last received data for whole part
103
104 mutable Stamp lastStamp; //this is shared among all calls that read encoders
105 size_t nj{0};
106 bool njIsKnown{false};
107
108 ProtocolVersion protocolVersion;
109
110 // Check for number of joints, if needed.
111 // This is to allow for delayed connection to the remote control board.
112 bool isLive();
113
114 bool checkProtocolVersion(bool ignore);
115
116 bool send1V(int v);
117 bool send2V(int v1, int v2);
118 bool send2V1I(int v1, int v2, int axis);
119 bool send1V1I(int v, int axis);
120 bool send3V1I(int v1, int v2, int v3, int j);
121
127 bool set1V(int code);
128
136 bool set1V2D(int code, double v);
137
145 bool set1V1I(int code, int v);
146
153 bool get1V1D(int code, double& v) const;
154
161 bool get1V1I(int code, int& v) const;
162
170 bool set1V1I1D(int code, int j, double val);
171
172 bool set1V1I2D(int code, int j, double val1, double val2);
173
180 bool set1VDA(int v, const double *val);
181 bool set2V1DA(int v1, int v2, const double *val);
182 bool set2V2DA(int v1, int v2, const double *val1, const double *val2);
183 bool set1V1I1IA1DA(int v, const int len, const int *val1, const double *val2);
184 bool set2V1I1D(int v1, int v2, int axis, double val);
185 bool setValWithPidType(int voc, PidControlTypeEnum type, int axis, double val);
186 bool setValWithPidType(int voc, PidControlTypeEnum type, const double* val_arr);
187 bool getValWithPidType(int voc, PidControlTypeEnum type, int j, double *val);
188 bool getValWithPidType(int voc, PidControlTypeEnum type, double *val);
189 bool set2V1I(int v1, int v2, int axis);
190
198 bool get1V1I1D(int v, int j, double *val);
199
207 bool get1V1I1I(int v, int j, int *val);
208 bool get2V1I1D(int v1, int v2, int j, double *val);
209 bool get2V1I2D(int v1, int v2, int j, double *val1, double *val2);
210 bool get1V1I2D(int code, int axis, double *v1, double *v2);
211
219 bool get1V1I1B(int v, int j, bool &val);
220 bool get1V1I1IA1B(int v, const int len, const int *val1, bool &retVal);
221 bool get2V1I1IA1DA(int v1, int v2, const int n_joints, const int *joints, double *retVals, std::string functionName = "");
222 bool get1V1B(int v, bool &val);
223
230 bool get1VIA(int v, int *val);
231
238 bool get1VDA(int v, double *val);
239
246 bool get1V1DA(int v1, double *val);
247
255 bool get2V1DA(int v1, int v2, double *val);
256
257 bool get2V2DA(int v1, int v2, double *val1, double *val2);
258
259 bool get1V1I1S(int code, int j, std::string &name);
260
261 bool get1V1I1IA1DA(int v, const int len, const int *val1, double *val2);
262
263public:
264 RemoteControlBoard() = default;
265 RemoteControlBoard(const RemoteControlBoard&) = delete;
266 RemoteControlBoard(RemoteControlBoard&&) = delete;
267 RemoteControlBoard& operator=(const RemoteControlBoard&) = delete;
268 RemoteControlBoard& operator=(RemoteControlBoard&&) = delete;
269 ~RemoteControlBoard() override = default;
270
271 bool open(Searchable& config) override;
272
277 bool close() override;
278
279 bool getAxes(int *ax) override;
280
281 // IPidControl
282 bool setPid(const PidControlTypeEnum& pidtype, int j, const Pid &pid) override;
283 bool setPids(const PidControlTypeEnum& pidtype, const Pid *pids) override;
284 bool setPidReference(const PidControlTypeEnum& pidtype, int j, double ref) override;
285 bool setPidReferences(const PidControlTypeEnum& pidtype, const double *refs) override;
286 bool setPidErrorLimit(const PidControlTypeEnum& pidtype, int j, double limit) override;
287 bool setPidErrorLimits(const PidControlTypeEnum& pidtype, const double *limits) override;
288 bool getPidError(const PidControlTypeEnum& pidtype, int j, double *err) override;
289 bool getPidErrors(const PidControlTypeEnum& pidtype, double *errs) override;
290 bool getPid(const PidControlTypeEnum& pidtype, int j, Pid *pid) override;
291 bool getPids(const PidControlTypeEnum& pidtype, Pid *pids) override;
292 bool getPidReference(const PidControlTypeEnum& pidtype, int j, double *ref) override;
293 bool getPidReferences(const PidControlTypeEnum& pidtype, double *refs) override;
294 bool getPidErrorLimit(const PidControlTypeEnum& pidtype, int j, double *limit) override;
295 bool getPidErrorLimits(const PidControlTypeEnum& pidtype, double *limits) override;
296 bool resetPid(const PidControlTypeEnum& pidtype, int j) override;
297 bool disablePid(const PidControlTypeEnum& pidtype, int j) override;
298 bool enablePid(const PidControlTypeEnum& pidtype, int j) override;
299 bool isPidEnabled(const PidControlTypeEnum& pidtype, int j, bool* enabled) override;
300 bool getPidOutput(const PidControlTypeEnum& pidtype, int j, double *out) override;
301 bool getPidOutputs(const PidControlTypeEnum& pidtype, double *outs) override;
302 bool setPidOffset(const PidControlTypeEnum& pidtype, int j, double v) override;
303
304 // IEncoder
305 bool resetEncoder(int j) override;
306 bool resetEncoders() override;
307 bool setEncoder(int j, double val) override;
308 bool setEncoders(const double *vals) override;
309 bool getEncoder(int j, double *v) override;
310 bool getEncoderTimed(int j, double *v, double *t) override;
311 bool getEncoders(double *encs) override;
312 bool getEncodersTimed(double *encs, double *ts) override;
313 bool getEncoderSpeed(int j, double *sp) override;
314 bool getEncoderSpeeds(double *spds) override;
315 bool getEncoderAcceleration(int j, double *acc) override;
316 bool getEncoderAccelerations(double *accs) override;
317
318 // IRemoteVariable
319 bool getRemoteVariable(std::string key, yarp::os::Bottle& val) override;
320 bool setRemoteVariable(std::string key, const yarp::os::Bottle& val) override;
321 bool getRemoteVariablesList(yarp::os::Bottle* listOfKeys) override;
322
323 // IMotor
324 bool getNumberOfMotors(int *num) override;
325 bool getTemperature(int m, double* val) override;
326 bool getTemperatures(double *vals) override;
327 bool getTemperatureLimit (int m, double* val) override;
328 bool setTemperatureLimit (int m, const double val) override;
329 bool getGearboxRatio(int m, double* val) override;
330 bool setGearboxRatio(int m, const double val) override;
331
332 // IMotorEncoder
333 bool resetMotorEncoder(int j) override;
334 bool resetMotorEncoders() override;
335 bool setMotorEncoder(int j, const double val) override;
336 bool setMotorEncoderCountsPerRevolution(int m, const double cpr) override;
337 bool getMotorEncoderCountsPerRevolution(int m, double *cpr) override;
338 bool setMotorEncoders(const double *vals) override;
339 bool getMotorEncoder(int j, double *v) override;
340 bool getMotorEncoderTimed(int j, double *v, double *t) override;
341 bool getMotorEncoders(double *encs) override;
342 bool getMotorEncodersTimed(double *encs, double *ts) override;
343 bool getMotorEncoderSpeed(int j, double *sp) override;
344 bool getMotorEncoderSpeeds(double *spds) override;
345 bool getMotorEncoderAcceleration(int j, double *acc) override;
346 bool getMotorEncoderAccelerations(double *accs) override;
347 bool getNumberOfMotorEncoders(int *num) override;
348
349 // IPreciselyTimed
350 Stamp getLastInputStamp() override;
351
352 // IPositionControl
353 bool positionMove(int j, double ref) override;
354 bool positionMove(const int n_joint, const int *joints, const double *refs) override;
355 bool positionMove(const double *refs) override;
356 bool getTargetPosition(const int joint, double *ref) override;
357 bool getTargetPositions(double *refs) override;
358 bool getTargetPositions(const int n_joint, const int *joints, double *refs) override;
359 bool relativeMove(int j, double delta) override;
360 bool relativeMove(const int n_joint, const int *joints, const double *refs) override;
361 bool relativeMove(const double *deltas) override;
362 bool checkMotionDone(int j, bool *flag) override;
363 bool checkMotionDone(const int n_joint, const int *joints, bool *flag) override;
364 bool checkMotionDone(bool *flag) override;
365 bool setRefSpeed(int j, double sp) override;
366 bool setRefSpeeds(const int n_joint, const int *joints, const double *spds) override;
367 bool setRefSpeeds(const double *spds) override;
368 bool setRefAcceleration(int j, double acc) override;
369 bool setRefAccelerations(const int n_joint, const int *joints, const double *accs) override;
370 bool setRefAccelerations(const double *accs) override;
371 bool getRefSpeed(int j, double *ref) override;
372 bool getRefSpeeds(const int n_joint, const int *joints, double *spds) override;
373 bool getRefSpeeds(double *spds) override;
374 bool getRefAcceleration(int j, double *acc) override;
375 bool getRefAccelerations(const int n_joint, const int *joints, double *accs) override;
376 bool getRefAccelerations(double *accs) override;
377 bool stop(int j) override;
378 bool stop(const int len, const int *val1) override;
379 bool stop() override;
380
381 // IJointFault
382 bool getLastJointFault(int j, int& fault, std::string& message) override;
383
384 // IVelocityControl
385 bool velocityMove(int j, double v) override;
386 bool velocityMove(const double *v) override;
387
388 // IAmplifierControl
389 bool enableAmp(int j) override;
390 bool disableAmp(int j) override;
391 bool getAmpStatus(int *st) override;
392 bool getAmpStatus(int j, int *st) override;
393 bool setMaxCurrent(int j, double v) override;
394 bool getMaxCurrent(int j, double *v) override;
395 bool getNominalCurrent(int m, double *val) override;
396 bool setNominalCurrent(int m, const double val) override;
397 bool getPeakCurrent(int m, double *val) override;
398 bool setPeakCurrent(int m, const double val) override;
399 bool getPWM(int m, double* val) override;
400 bool getPWMLimit(int m, double* val) override;
401 bool setPWMLimit(int m, const double val) override;
402 bool getPowerSupplyVoltage(int m, double* val) override;
403
404 // IControlLimits
405 bool setLimits(int axis, double min, double max) override;
406 bool getLimits(int axis, double *min, double *max) override;
407 bool setVelLimits(int axis, double min, double max) override;
408 bool getVelLimits(int axis, double *min, double *max) override;
409
410 // IAxisInfo
411 bool getAxisName(int j, std::string& name) override;
412 bool getJointType(int j, yarp::dev::JointTypeEnum& type) override;
413
414 // IControlCalibration
415 bool calibrateRobot() override;
416 bool abortCalibration() override;
417 bool abortPark() override;
418 bool park(bool wait=true) override;
419 bool calibrateAxisWithParams(int j, unsigned int ui, double v1, double v2, double v3) override;
420 bool setCalibrationParameters(int j, const CalibrationParameters& params) override;
421 bool calibrationDone(int j) override;
422
423 // ITorqueControl
424 bool getRefTorque(int j, double *t) override;
425 bool getRefTorques(double *t) override;
426 bool setRefTorques(const double *t) override;
427 bool setRefTorque(int j, double v) override;
428 bool setRefTorques(const int n_joint, const int *joints, const double *t) override;
429 bool setMotorTorqueParams(int j, const MotorTorqueParameters params) override;
430 bool getMotorTorqueParams(int j, MotorTorqueParameters *params) override;
431 bool getTorque(int j, double *t) override;
432 bool getTorques(double *t) override;
433 bool getTorqueRange(int j, double *min, double* max) override;
434 bool getTorqueRanges(double *min, double *max) override;
435
436 // IImpedanceControl
437 bool getImpedance(int j, double *stiffness, double *damping) override;
438 bool getImpedanceOffset(int j, double *offset) override;
439 bool setImpedance(int j, double stiffness, double damping) override;
440 bool setImpedanceOffset(int j, double offset) override;
441 bool getCurrentImpedanceLimit(int j, double *min_stiff, double *max_stiff, double *min_damp, double *max_damp) override;
442
443 // IControlMode
444 bool getControlMode(int j, int *mode) override;
445 bool getControlModes(int *modes) override;
446 bool getControlModes(const int n_joint, const int *joints, int *modes) override;
447 bool setControlMode(const int j, const int mode) override;
448 bool setControlModes(const int n_joint, const int *joints, int *modes) override;
449 bool setControlModes(int *modes) override;
450
451 // IPositionDirect
452 bool setPosition(int j, double ref) override;
453 bool setPositions(const int n_joint, const int *joints, const double *refs) override;
454 bool setPositions(const double *refs) override;
455 bool getRefPosition(const int joint, double* ref) override;
456 bool getRefPositions(double* refs) override;
457 bool getRefPositions(const int n_joint, const int* joints, double* refs) override;
458
459 // IVelocityControl
460 bool velocityMove(const int n_joint, const int *joints, const double *spds) override;
461 bool getRefVelocity(const int joint, double* vel) override;
462 bool getRefVelocities(double* vels) override;
463 bool getRefVelocities(const int n_joint, const int* joints, double* vels) override;
464
465 // IInteractionMode
466 bool getInteractionMode(int axis, yarp::dev::InteractionModeEnum* mode) override;
467 bool getInteractionModes(int n_joints, int *joints, yarp::dev::InteractionModeEnum* modes) override;
468 bool getInteractionModes(yarp::dev::InteractionModeEnum* modes) override;
469 bool setInteractionMode(int axis, yarp::dev::InteractionModeEnum mode) override;
470 bool setInteractionModes(int n_joints, int *joints, yarp::dev::InteractionModeEnum* modes) override;
471 bool setInteractionModes(yarp::dev::InteractionModeEnum* modes) override;
472
473 // IRemoteCalibrator
474 bool isCalibratorDevicePresent(bool *isCalib) override;
475 bool calibrateSingleJoint(int j) override;
476 bool calibrateWholePart() override;
477 bool homingSingleJoint(int j) override;
478 bool homingWholePart() override;
479 bool parkSingleJoint(int j, bool _wait=true) override;
480 bool parkWholePart() override;
481 bool quitCalibrate() override;
482 bool quitPark() override;
483
484 // ICurrentControl
485 bool getRefCurrents(double *t) override;
486 bool getRefCurrent(int j, double *t) override;
487 bool setRefCurrents(const double *refs) override;
488 bool setRefCurrent(int j, double ref) override;
489 bool setRefCurrents(const int n_joint, const int *joints, const double *refs) override;
490 bool getCurrents(double *vals) override;
491 bool getCurrent(int j, double *val) override;
492 bool getCurrentRange(int j, double *min, double *max) override;
493 bool getCurrentRanges(double *min, double *max) override;
494
495 // IPWMControl
496 bool setRefDutyCycle(int j, double v) override;
497 bool setRefDutyCycles(const double *v) override;
498 bool getRefDutyCycle(int j, double *ref) override;
499 bool getRefDutyCycles(double *refs) override;
500 bool getDutyCycle(int j, double *out) override;
501 bool getDutyCycles(double *outs) override;
502};
503
504
505
506#endif // YARP_DEV_REMOTECONTROLBOARD_REMOTECONTROLBOARD_H
t
float t
Definition FfmpegWriter.cpp:71
IAmplifierControl.h
define control board standard interfaces
IAxisInfo.h
define control board standard interfaces
IControlLimits.h
define control board standard interfaces
RemoteControlBoard_ParamsParser.h
Vector.h
contains the definition of a Vector type
RemoteControlBoard_ParamsParser
This class is the parameters parser for class RemoteControlBoard.
Definition RemoteControlBoard_ParamsParser.h:56
RemoteControlBoard
remote_controlboard: The client side of the control board, connects to a remote controlboard using th...
Definition RemoteControlBoard.h:84
RemoteControlBoard::setPidReferences
bool setPidReferences(const PidControlTypeEnum &pidtype, const double *refs) override
Set the controller reference, multiple axes.
Definition RemoteControlBoard.cpp:1184
RemoteControlBoard::getTorques
bool getTorques(double *t) override
Get the value of the torque for all joints (this is the feedback if you have torque sensors).
Definition RemoteControlBoard.cpp:2240
RemoteControlBoard::relativeMove
bool relativeMove(int j, double delta) override
Set relative position.
Definition RemoteControlBoard.cpp:1742
RemoteControlBoard::getCurrentImpedanceLimit
bool getCurrentImpedanceLimit(int j, double *min_stiff, double *max_stiff, double *min_damp, double *max_damp) override
Get the current impedandance limits for a specific joint.
Definition RemoteControlBoard.cpp:2335
RemoteControlBoard::getRefSpeeds
bool getRefSpeeds(const int n_joint, const int *joints, double *spds) override
Get reference speed of all joints.
Definition RemoteControlBoard.cpp:1807
RemoteControlBoard::get1V1I1B
bool get1V1I1B(int v, int j, bool &val)
Helper method used to get a double value from the remote peer.
Definition RemoteControlBoard.cpp:817
RemoteControlBoard::quitCalibrate
bool quitCalibrate() override
quitCalibrate: interrupt the calibration procedure
Definition RemoteControlBoard.cpp:2734
RemoteControlBoard::getRefPositions
bool getRefPositions(double *refs) override
Get the last position reference for all axes.
Definition RemoteControlBoard.cpp:2516
RemoteControlBoard::state_buffer
yarp::os::PortReaderBuffer< yarp::sig::Vector > state_buffer
Definition RemoteControlBoard.h:90
RemoteControlBoard::get1V1I1IA1B
bool get1V1I1IA1B(int v, const int len, const int *val1, bool &retVal)
Definition RemoteControlBoard.cpp:832
RemoteControlBoard::open
bool open(Searchable &config) override
Open the DeviceDriver.
Definition RemoteControlBoard.cpp:181
RemoteControlBoard::getEncoder
bool getEncoder(int j, double *v) override
Read the value of an encoder.
Definition RemoteControlBoard.cpp:1401
RemoteControlBoard::send2V1I
bool send2V1I(int v1, int v2, int axis)
Definition RemoteControlBoard.cpp:410
RemoteControlBoard::setPositions
bool setPositions(const int n_joint, const int *joints, const double *refs) override
Set new reference point for all axes.
Definition RemoteControlBoard.cpp:2478
RemoteControlBoard::last_wholePart
yarp::dev::impl::jointData last_wholePart
Definition RemoteControlBoard.h:102
RemoteControlBoard::setControlMode
bool setControlMode(const int j, const int mode) override
Set the current control mode.
Definition RemoteControlBoard.cpp:2399
RemoteControlBoard::isPidEnabled
bool isPidEnabled(const PidControlTypeEnum &pidtype, int j, bool *enabled) override
Get the current status (enabled/disabled) of the pid.
Definition RemoteControlBoard.cpp:1345
RemoteControlBoard::~RemoteControlBoard
~RemoteControlBoard() override=default
RemoteControlBoard::getPeakCurrent
bool getPeakCurrent(int m, double *val) override
Definition RemoteControlBoard.cpp:1963
RemoteControlBoard::getLimits
bool getLimits(int axis, double *min, double *max) override
Get the software limits for a particular axis.
Definition RemoteControlBoard.cpp:2006
RemoteControlBoard::RemoteControlBoard
RemoteControlBoard(const RemoteControlBoard &)=delete
RemoteControlBoard::getPWM
bool getPWM(int m, double *val) override
Definition RemoteControlBoard.cpp:1973
RemoteControlBoard::command_buffer
yarp::os::PortWriterBuffer< CommandMessage > command_buffer
Definition RemoteControlBoard.h:91
RemoteControlBoard::get1VDA
bool get1VDA(int v, double *val)
Helper method to get an array of double from the remote peer.
Definition RemoteControlBoard.cpp:940
RemoteControlBoard::set2V1DA
bool set2V1DA(int v1, int v2, const double *val)
Definition RemoteControlBoard.cpp:563
RemoteControlBoard::get1V1I
bool get1V1I(int code, int &v) const
Send a GET command expecting an integer value in return.
Definition RemoteControlBoard.cpp:503
RemoteControlBoard::getNominalCurrent
bool getNominalCurrent(int m, double *val) override
Definition RemoteControlBoard.cpp:1953
RemoteControlBoard::resetPid
bool resetPid(const PidControlTypeEnum &pidtype, int j) override
Reset the controller of a given joint, usually sets the current status of the joint as the reference ...
Definition RemoteControlBoard.cpp:1300
RemoteControlBoard::setPeakCurrent
bool setPeakCurrent(int m, const double val) override
Definition RemoteControlBoard.cpp:1968
RemoteControlBoard::getPidOutputs
bool getPidOutputs(const PidControlTypeEnum &pidtype, double *outs) override
Get the output of the controllers (e.g.
Definition RemoteControlBoard.cpp:1367
RemoteControlBoard::send2V
bool send2V(int v1, int v2)
Definition RemoteControlBoard.cpp:398
RemoteControlBoard::set1V1I
bool set1V1I(int code, int v)
Send a SET command with an additional integer valued variable and then wait for a reply.
Definition RemoteControlBoard.cpp:471
RemoteControlBoard::setInteractionMode
bool setInteractionMode(int axis, yarp::dev::InteractionModeEnum mode) override
Set the interaction mode of the robot, values can be stiff or compliant.
Definition RemoteControlBoard.cpp:2606
RemoteControlBoard::getTemperatureLimit
bool getTemperatureLimit(int m, double *val) override
Retreives the current temperature limit for a specific motor.
Definition RemoteControlBoard.cpp:1553
RemoteControlBoard::getPidError
bool getPidError(const PidControlTypeEnum &pidtype, int j, double *err) override
Get the current error for a joint.
Definition RemoteControlBoard.cpp:1199
RemoteControlBoard::getPidReference
bool getPidReference(const PidControlTypeEnum &pidtype, int j, double *ref) override
Get the current reference of the pid controller for a specific joint.
Definition RemoteControlBoard.cpp:1280
RemoteControlBoard::homingSingleJoint
bool homingSingleJoint(int j) override
homingSingleJoint: call the homing procedure for a single joint
Definition RemoteControlBoard.cpp:2703
RemoteControlBoard::checkMotionDone
bool checkMotionDone(int j, bool *flag) override
Check if the current trajectory is terminated.
Definition RemoteControlBoard.cpp:1757
RemoteControlBoard::getMotorEncoderCountsPerRevolution
bool getMotorEncoderCountsPerRevolution(int m, double *cpr) override
Gets number of counts per revolution for motor encoder m.
Definition RemoteControlBoard.cpp:1597
RemoteControlBoard::setMotorEncoderCountsPerRevolution
bool setMotorEncoderCountsPerRevolution(int m, const double cpr) override
Sets number of counts per revolution for motor encoder m.
Definition RemoteControlBoard.cpp:1592
RemoteControlBoard::protocolVersion
ProtocolVersion protocolVersion
Definition RemoteControlBoard.h:108
RemoteControlBoard::set2V1I
bool set2V1I(int v1, int v2, int axis)
Definition RemoteControlBoard.cpp:716
RemoteControlBoard::setRefDutyCycle
bool setRefDutyCycle(int j, double v) override
Sets the reference dutycycle to a single motor.
Definition RemoteControlBoard.cpp:2850
RemoteControlBoard::getRefAccelerations
bool getRefAccelerations(const int n_joint, const int *joints, double *accs) override
Get reference acceleration for a joint.
Definition RemoteControlBoard.cpp:1822
RemoteControlBoard::setPidErrorLimit
bool setPidErrorLimit(const PidControlTypeEnum &pidtype, int j, double limit) override
Set the error limit for the controller on a specifi joint.
Definition RemoteControlBoard.cpp:1189
RemoteControlBoard::setMaxCurrent
bool setMaxCurrent(int j, double v) override
Definition RemoteControlBoard.cpp:1943
RemoteControlBoard::getPowerSupplyVoltage
bool getPowerSupplyVoltage(int m, double *val) override
Definition RemoteControlBoard.cpp:1992
RemoteControlBoard::getRefVelocity
bool getRefVelocity(const int joint, double *vel) override
Get the last reference speed set by velocityMove for single joint.
Definition RemoteControlBoard.cpp:2550
RemoteControlBoard::getPidOutput
bool getPidOutput(const PidControlTypeEnum &pidtype, int j, double *out) override
Get the output of the controller (e.g.
Definition RemoteControlBoard.cpp:1362
RemoteControlBoard::get1V1I1IA1DA
bool get1V1I1IA1DA(int v, const int len, const int *val1, double *val2)
Definition RemoteControlBoard.cpp:1078
RemoteControlBoard::get1V1DA
bool get1V1DA(int v1, double *val)
Helper method to get an array of double from the remote peer.
Definition RemoteControlBoard.cpp:967
RemoteControlBoard::setRefSpeed
bool setRefSpeed(int j, double sp) override
Set reference speed for a joint, this is the speed used during the interpolation of the trajectory.
Definition RemoteControlBoard.cpp:1772
RemoteControlBoard::setInteractionModes
bool setInteractionModes(int n_joints, int *joints, yarp::dev::InteractionModeEnum *modes) override
Set the interaction mode of the robot for a set of joints, values can be stiff or compliant.
Definition RemoteControlBoard.cpp:2623
RemoteControlBoard::getRefCurrent
bool getRefCurrent(int j, double *t) override
Get the reference value of the current for a single motor.
Definition RemoteControlBoard.cpp:2763
RemoteControlBoard::getEncoders
bool getEncoders(double *encs) override
Read the position of all axes.
Definition RemoteControlBoard.cpp:1422
RemoteControlBoard::get1V1I1S
bool get1V1I1S(int code, int j, std::string &name)
Definition RemoteControlBoard.cpp:1062
RemoteControlBoard::set1V
bool set1V(int code)
Send a SET command without parameters and wait for a reply.
Definition RemoteControlBoard.cpp:449
RemoteControlBoard::getLastInputStamp
Stamp getLastInputStamp() override
Get the time stamp for the last read data.
Definition RemoteControlBoard.cpp:1699
RemoteControlBoard::getMotorEncoder
bool getMotorEncoder(int j, double *v) override
Read the value of a motor encoder.
Definition RemoteControlBoard.cpp:1607
RemoteControlBoard::getTemperature
bool getTemperature(int m, double *val) override
Get temperature of a motor.
Definition RemoteControlBoard.cpp:1543
RemoteControlBoard::setPidReference
bool setPidReference(const PidControlTypeEnum &pidtype, int j, double ref) override
Set the controller reference for a given axis.
Definition RemoteControlBoard.cpp:1179
RemoteControlBoard::setImpedance
bool setImpedance(int j, double stiffness, double damping) override
Set current impedance gains (stiffness,damping) for a specific joint.
Definition RemoteControlBoard.cpp:2304
RemoteControlBoard::operator=
RemoteControlBoard & operator=(const RemoteControlBoard &)=delete
RemoteControlBoard::getMotorEncoderTimed
bool getMotorEncoderTimed(int j, double *v, double *t) override
Read the instantaneous position of a motor encoder.
Definition RemoteControlBoard.cpp:1617
RemoteControlBoard::getDutyCycles
bool getDutyCycles(double *outs) override
Gets the current dutycycle of the output of the amplifier (i.e.
Definition RemoteControlBoard.cpp:2927
RemoteControlBoard::setRefCurrent
bool setRefCurrent(int j, double ref) override
Set the reference value of the current for a single motor.
Definition RemoteControlBoard.cpp:2783
RemoteControlBoard::diagnosticThread
DiagnosticThread * diagnosticThread
Definition RemoteControlBoard.h:88
RemoteControlBoard::setControlModes
bool setControlModes(const int n_joint, const int *joints, int *modes) override
Set the current control mode for a subset of axes.
Definition RemoteControlBoard.cpp:2415
RemoteControlBoard::setPid
bool setPid(const PidControlTypeEnum &pidtype, int j, const Pid &pid) override
Set new pid value for a joint axis.
Definition RemoteControlBoard.cpp:1127
RemoteControlBoard::set1V1I2D
bool set1V1I2D(int code, int j, double val1, double val2)
Definition RemoteControlBoard.cpp:534
RemoteControlBoard::getPidErrors
bool getPidErrors(const PidControlTypeEnum &pidtype, double *errs) override
Get the error of all joints.
Definition RemoteControlBoard.cpp:1204
RemoteControlBoard::close
bool close() override
Close the device driver and stop the port connections.
Definition RemoteControlBoard.cpp:367
RemoteControlBoard::parkSingleJoint
bool parkSingleJoint(int j, bool _wait=true) override
parkSingleJoint(): start the parking procedure for the single joint
Definition RemoteControlBoard.cpp:2719
RemoteControlBoard::setMotorEncoders
bool setMotorEncoders(const double *vals) override
Set the value of all motor encoders.
Definition RemoteControlBoard.cpp:1602
RemoteControlBoard::last_singleJoint
yarp::dev::impl::jointData last_singleJoint
Definition RemoteControlBoard.h:100
RemoteControlBoard::getTargetPositions
bool getTargetPositions(double *refs) override
Get the last position reference for all axes.
Definition RemoteControlBoard.cpp:1732
RemoteControlBoard::RemoteControlBoard
RemoteControlBoard(RemoteControlBoard &&)=delete
RemoteControlBoard::setEncoders
bool setEncoders(const double *vals) override
Set the value of all encoders.
Definition RemoteControlBoard.cpp:1396
RemoteControlBoard::set1VDA
bool set1VDA(int v, const double *val)
Helper method used to set an array of double to all axes.
Definition RemoteControlBoard.cpp:547
RemoteControlBoard::getPid
bool getPid(const PidControlTypeEnum &pidtype, int j, Pid *pid) override
Get current pid value for a specific joint.
Definition RemoteControlBoard.cpp:1209
RemoteControlBoard::setPosition
bool setPosition(int j, double ref) override
Set new position for a single axis.
Definition RemoteControlBoard.cpp:2463
RemoteControlBoard::get2V1I2D
bool get2V1I2D(int v1, int v2, int j, double *val1, double *val2)
Definition RemoteControlBoard.cpp:781
RemoteControlBoard::getJointType
bool getJointType(int j, yarp::dev::JointTypeEnum &type) override
Definition RemoteControlBoard.cpp:2030
RemoteControlBoard::resetMotorEncoder
bool resetMotorEncoder(int j) override
Reset motor encoder, single motor.
Definition RemoteControlBoard.cpp:1577
RemoteControlBoard::getEncoderSpeed
bool getEncoderSpeed(int j, double *sp) override
Read the istantaneous speed of an axis.
Definition RemoteControlBoard.cpp:1444
RemoteControlBoard::setGearboxRatio
bool setGearboxRatio(int m, const double val) override
Set the gearbox ratio for a specific motor.
Definition RemoteControlBoard.cpp:1568
RemoteControlBoard::resetMotorEncoders
bool resetMotorEncoders() override
Reset motor encoders.
Definition RemoteControlBoard.cpp:1582
RemoteControlBoard::getCurrentRanges
bool getCurrentRanges(double *min, double *max) override
Get the full scale of the current measurements for all motors motor (e.g.
Definition RemoteControlBoard.cpp:2842
RemoteControlBoard::getAmpStatus
bool getAmpStatus(int *st) override
Definition RemoteControlBoard.cpp:1933
RemoteControlBoard::setRefTorque
bool setRefTorque(int j, double v) override
Set the reference value of the torque for a given joint.
Definition RemoteControlBoard.cpp:2135
RemoteControlBoard::enablePid
bool enablePid(const PidControlTypeEnum &pidtype, int j) override
Enable the pid computation for a joint.
Definition RemoteControlBoard.cpp:1330
RemoteControlBoard::calibrateWholePart
bool calibrateWholePart() override
calibrateWholePart: call the procedure for calibrating the whole device
Definition RemoteControlBoard.cpp:2693
RemoteControlBoard::getImpedance
bool getImpedance(int j, double *stiffness, double *damping) override
Get current impedance gains (stiffness,damping,offset) for a specific joint.
Definition RemoteControlBoard.cpp:2263
RemoteControlBoard::getPidErrorLimits
bool getPidErrorLimits(const PidControlTypeEnum &pidtype, double *limits) override
Get the error limit for all controllers.
Definition RemoteControlBoard.cpp:1295
RemoteControlBoard::getMotorEncoders
bool getMotorEncoders(double *encs) override
Read the position of all motor encoders.
Definition RemoteControlBoard.cpp:1628
RemoteControlBoard::setPids
bool setPids(const PidControlTypeEnum &pidtype, const Pid *pids) override
Set new pid value on multiple axes.
Definition RemoteControlBoard.cpp:1150
RemoteControlBoard::setMotorEncoder
bool setMotorEncoder(int j, const double val) override
Set the value of the motor encoder for a given motor.
Definition RemoteControlBoard.cpp:1587
RemoteControlBoard::velocityMove
bool velocityMove(int j, double v) override
Start motion at a given speed, single joint.
Definition RemoteControlBoard.cpp:1889
RemoteControlBoard::setRemoteVariable
bool setRemoteVariable(std::string key, const yarp::os::Bottle &val) override
Definition RemoteControlBoard.cpp:1502
RemoteControlBoard::setPidErrorLimits
bool setPidErrorLimits(const PidControlTypeEnum &pidtype, const double *limits) override
Get the error limit for the controller on all joints.
Definition RemoteControlBoard.cpp:1194
RemoteControlBoard::RemoteControlBoard
RemoteControlBoard()=default
RemoteControlBoard::calibrationDone
bool calibrationDone(int j) override
Check if the calibration is terminated, on a particular joint.
Definition RemoteControlBoard.cpp:2097
RemoteControlBoard::setPidOffset
bool setPidOffset(const PidControlTypeEnum &pidtype, int j, double v) override
Set offset value for a given controller.
Definition RemoteControlBoard.cpp:1372
RemoteControlBoard::get2V1I1D
bool get2V1I1D(int v1, int v2, int j, double *val)
Definition RemoteControlBoard.cpp:762
RemoteControlBoard::abortCalibration
bool abortCalibration() override
Definition RemoteControlBoard.cpp:2043
RemoteControlBoard::setRefCurrents
bool setRefCurrents(const double *refs) override
Set the reference value of the currents for all motors.
Definition RemoteControlBoard.cpp:2768
RemoteControlBoard::getMotorEncoderAcceleration
bool getMotorEncoderAcceleration(int j, double *acc) override
Read the instantaneous acceleration of a motor encoder.
Definition RemoteControlBoard.cpp:1668
RemoteControlBoard::setRefTorques
bool setRefTorques(const double *t) override
Set the reference value of the torque for all joints.
Definition RemoteControlBoard.cpp:2116
RemoteControlBoard::getNumberOfMotors
bool getNumberOfMotors(int *num) override
Get the number of available motors.
Definition RemoteControlBoard.cpp:1538
RemoteControlBoard::getInteractionModes
bool getInteractionModes(int n_joints, int *joints, yarp::dev::InteractionModeEnum *modes) override
Get the current interaction mode of the robot for a set of joints, values can be stiff or compliant.
Definition RemoteControlBoard.cpp:2578
RemoteControlBoard::get1VIA
bool get1VIA(int v, int *val)
Helper method to get an array of integers from the remote peer.
Definition RemoteControlBoard.cpp:913
RemoteControlBoard::set1V1I1IA1DA
bool set1V1I1IA1DA(int v, const int len, const int *val1, const double *val2)
Definition RemoteControlBoard.cpp:601
RemoteControlBoard::getInteractionMode
bool getInteractionMode(int axis, yarp::dev::InteractionModeEnum *mode) override
Get the current interaction mode of the robot, values can be stiff or compliant.
Definition RemoteControlBoard.cpp:2569
RemoteControlBoard::getCurrentRange
bool getCurrentRange(int j, double *min, double *max) override
Get the full scale of the current measurement for a given motor (e.g.
Definition RemoteControlBoard.cpp:2837
RemoteControlBoard::getEncoderAcceleration
bool getEncoderAcceleration(int j, double *acc) override
Read the instantaneous acceleration of an axis.
Definition RemoteControlBoard.cpp:1464
RemoteControlBoard::operator=
RemoteControlBoard & operator=(RemoteControlBoard &&)=delete
RemoteControlBoard::get1V1B
bool get1V1B(int v, bool &val)
Definition RemoteControlBoard.cpp:899
RemoteControlBoard::getVelLimits
bool getVelLimits(int axis, double *min, double *max) override
Get the software speed limits for a particular axis.
Definition RemoteControlBoard.cpp:2016
RemoteControlBoard::setEncoder
bool setEncoder(int j, double val) override
Set the value of the encoder for a given joint.
Definition RemoteControlBoard.cpp:1391
RemoteControlBoard::send1V1I
bool send1V1I(int v, int axis)
Definition RemoteControlBoard.cpp:423
RemoteControlBoard::get1V1I2D
bool get1V1I2D(int code, int axis, double *v1, double *v2)
Definition RemoteControlBoard.cpp:800
RemoteControlBoard::resetEncoders
bool resetEncoders() override
Reset encoders.
Definition RemoteControlBoard.cpp:1386
RemoteControlBoard::checkProtocolVersion
bool checkProtocolVersion(bool ignore)
Definition RemoteControlBoard.cpp:118
RemoteControlBoard::setImpedanceOffset
bool setImpedanceOffset(int j, double offset) override
Set current force Offset for a specific joint.
Definition RemoteControlBoard.cpp:2320
RemoteControlBoard::get2V1I1IA1DA
bool get2V1I1IA1DA(int v1, int v2, const int n_joints, const int *joints, double *retVals, std::string functionName="")
Definition RemoteControlBoard.cpp:853
RemoteControlBoard::getGearboxRatio
bool getGearboxRatio(int m, double *val) override
Get the gearbox ratio for a specific motor.
Definition RemoteControlBoard.cpp:1563
RemoteControlBoard::getRefAcceleration
bool getRefAcceleration(int j, double *acc) override
Get reference acceleration for a joint.
Definition RemoteControlBoard.cpp:1817
RemoteControlBoard::getMaxCurrent
bool getMaxCurrent(int j, double *v) override
Returns the maximum electric current allowed for a given motor.
Definition RemoteControlBoard.cpp:1948
RemoteControlBoard::set2V2DA
bool set2V2DA(int v1, int v2, const double *val1, const double *val2)
Definition RemoteControlBoard.cpp:580
RemoteControlBoard::get2V1DA
bool get2V1DA(int v1, int v2, double *val)
Helper method to get an array of double from the remote peer.
Definition RemoteControlBoard.cpp:994
RemoteControlBoard::setRefAccelerations
bool setRefAccelerations(const int n_joint, const int *joints, const double *accs) override
Set reference acceleration on all joints.
Definition RemoteControlBoard.cpp:1792
RemoteControlBoard::setNominalCurrent
bool setNominalCurrent(int m, const double val) override
Definition RemoteControlBoard.cpp:1958
RemoteControlBoard::getMotorTorqueParams
bool getMotorTorqueParams(int j, MotorTorqueParameters *params) override
Get a subset of motor parameters (bemf, ktau etc) useful for torque control.
Definition RemoteControlBoard.cpp:2198
RemoteControlBoard::getRefTorques
bool getRefTorques(double *t) override
Get the reference value of the torque for all joints.
Definition RemoteControlBoard.cpp:2111
RemoteControlBoard::getTorque
bool getTorque(int j, double *t) override
Get the value of the torque on a given joint (this is the feedback if you have a torque sensor).
Definition RemoteControlBoard.cpp:2231
RemoteControlBoard::getRemoteVariable
bool getRemoteVariable(std::string key, yarp::os::Bottle &val) override
Definition RemoteControlBoard.cpp:1486
RemoteControlBoard::getRefDutyCycles
bool getRefDutyCycles(double *refs) override
Gets the last reference sent using the setRefDutyCycles function.
Definition RemoteControlBoard.cpp:2913
RemoteControlBoard::set1V2D
bool set1V2D(int code, double v)
Send a SET command and an additional double valued variable and then wait for a reply.
Definition RemoteControlBoard.cpp:459
RemoteControlBoard::getRemoteVariablesList
bool getRemoteVariablesList(yarp::os::Bottle *listOfKeys) override
Definition RemoteControlBoard.cpp:1517
RemoteControlBoard::getMotorEncoderSpeed
bool getMotorEncoderSpeed(int j, double *sp) override
Read the istantaneous speed of a motor encoder.
Definition RemoteControlBoard.cpp:1650
RemoteControlBoard::getTemperatures
bool getTemperatures(double *vals) override
Get temperature of all the motors.
Definition RemoteControlBoard.cpp:1548
RemoteControlBoard::get2V2DA
bool get2V2DA(int v1, int v2, double *val1, double *val2)
Definition RemoteControlBoard.cpp:1022
RemoteControlBoard::getLastJointFault
bool getLastJointFault(int j, int &fault, std::string &message) override
Definition RemoteControlBoard.cpp:1864
RemoteControlBoard::get1V1D
bool get1V1D(int code, double &v) const
Send a GET command expecting a double value in return.
Definition RemoteControlBoard.cpp:483
RemoteControlBoard::command_p
yarp::os::Port command_p
Definition RemoteControlBoard.h:87
RemoteControlBoard::setRefSpeeds
bool setRefSpeeds(const int n_joint, const int *joints, const double *spds) override
Set reference speed on all joints.
Definition RemoteControlBoard.cpp:1777
RemoteControlBoard::getControlMode
bool getControlMode(int j, int *mode) override
Get the current control mode.
Definition RemoteControlBoard.cpp:2362
RemoteControlBoard::isCalibratorDevicePresent
bool isCalibratorDevicePresent(bool *isCalib) override
isCalibratorDevicePresent: check if a calibrator device has been set
Definition RemoteControlBoard.cpp:2673
RemoteControlBoard::homingWholePart
bool homingWholePart() override
homingWholePart: call the homing procedure for a the whole part/device
Definition RemoteControlBoard.cpp:2708
RemoteControlBoard::set2V1I1D
bool set2V1I1D(int v1, int v2, int axis, double val)
Definition RemoteControlBoard.cpp:623
RemoteControlBoard::parkWholePart
bool parkWholePart() override
parkWholePart: start the parking procedure for the whole part
Definition RemoteControlBoard.cpp:2724
RemoteControlBoard::calibrateRobot
bool calibrateRobot() override
Calibrate robot by using an external calibrator.
Definition RemoteControlBoard.cpp:2038
RemoteControlBoard::getControlModes
bool getControlModes(int *modes) override
Get the current control mode (multiple joints).
Definition RemoteControlBoard.cpp:2371
RemoteControlBoard::getMotorEncoderAccelerations
bool getMotorEncoderAccelerations(double *accs) override
Read the instantaneous acceleration of all motor encoders.
Definition RemoteControlBoard.cpp:1677
RemoteControlBoard::resetEncoder
bool resetEncoder(int j) override
Reset encoder, single joint.
Definition RemoteControlBoard.cpp:1381
RemoteControlBoard::getDutyCycle
bool getDutyCycle(int j, double *out) override
Gets the current dutycycle of the output of the amplifier (i.e.
Definition RemoteControlBoard.cpp:2918
RemoteControlBoard::getTargetPosition
bool getTargetPosition(const int joint, double *ref) override
Get the last position reference for the specified axis.
Definition RemoteControlBoard.cpp:1727
RemoteControlBoard::send3V1I
bool send3V1I(int v1, int v2, int v3, int j)
Definition RemoteControlBoard.cpp:435
RemoteControlBoard::getRefVelocities
bool getRefVelocities(double *vels) override
Get the last reference speed set by velocityMove for all joints.
Definition RemoteControlBoard.cpp:2555
RemoteControlBoard::getCurrent
bool getCurrent(int j, double *val) override
Definition RemoteControlBoard.cpp:2828
RemoteControlBoard::getAxes
bool getAxes(int *ax) override
Get the number of controlled axes.
Definition RemoteControlBoard.cpp:1120
RemoteControlBoard::extendedIntputStatePort
StateExtendedInputPort extendedIntputStatePort
Definition RemoteControlBoard.h:98
RemoteControlBoard::getPidErrorLimit
bool getPidErrorLimit(const PidControlTypeEnum &pidtype, int j, double *limit) override
Get the error limit for the controller on a specific joint.
Definition RemoteControlBoard.cpp:1290
RemoteControlBoard::stop
bool stop() override
Stop motion, multiple joints.
Definition RemoteControlBoard.cpp:1856
RemoteControlBoard::setPWMLimit
bool setPWMLimit(int m, const double val) override
Definition RemoteControlBoard.cpp:1987
RemoteControlBoard::getRefSpeed
bool getRefSpeed(int j, double *ref) override
Get reference speed for a joint.
Definition RemoteControlBoard.cpp:1802
RemoteControlBoard::getRefPosition
bool getRefPosition(const int joint, double *ref) override
Get the last position reference for the specified axis.
Definition RemoteControlBoard.cpp:2511
RemoteControlBoard::set1V1I1D
bool set1V1I1D(int code, int j, double val)
Helper method to set a double value to a single axis.
Definition RemoteControlBoard.cpp:523
RemoteControlBoard::getEncoderTimed
bool getEncoderTimed(int j, double *v, double *t) override
Read the instantaneous acceleration of all axes.
Definition RemoteControlBoard.cpp:1411
RemoteControlBoard::setCalibrationParameters
bool setCalibrationParameters(int j, const CalibrationParameters &params) override
Start calibration, this method is very often platform specific.
Definition RemoteControlBoard.cpp:2077
RemoteControlBoard::getRefTorque
bool getRefTorque(int j, double *t) override
Get the reference value of the torque for a given joint.
Definition RemoteControlBoard.cpp:2106
RemoteControlBoard::setTemperatureLimit
bool setTemperatureLimit(int m, const double val) override
Set the temperature limit for a specific motor.
Definition RemoteControlBoard.cpp:1558
RemoteControlBoard::setValWithPidType
bool setValWithPidType(int voc, PidControlTypeEnum type, int axis, double val)
Definition RemoteControlBoard.cpp:635
RemoteControlBoard::calibrateSingleJoint
bool calibrateSingleJoint(int j) override
calibrateSingleJoint: call the calibration procedure for the single joint
Definition RemoteControlBoard.cpp:2688
RemoteControlBoard::enableAmp
bool enableAmp(int j) override
Enable the amplifier on a specific joint.
Definition RemoteControlBoard.cpp:1923
RemoteControlBoard::getEncoderSpeeds
bool getEncoderSpeeds(double *spds) override
Read the instantaneous speed of all axes.
Definition RemoteControlBoard.cpp:1454
RemoteControlBoard::getTorqueRanges
bool getTorqueRanges(double *min, double *max) override
Get the full scale of the torque sensors of all joints.
Definition RemoteControlBoard.cpp:2254
RemoteControlBoard::park
bool park(bool wait=true) override
Definition RemoteControlBoard.cpp:2053
RemoteControlBoard::setRefAcceleration
bool setRefAcceleration(int j, double acc) override
Set reference acceleration for a joint.
Definition RemoteControlBoard.cpp:1787
RemoteControlBoard::getRefDutyCycle
bool getRefDutyCycle(int j, double *ref) override
Gets the last reference sent using the setRefDutyCycle function.
Definition RemoteControlBoard.cpp:2890
RemoteControlBoard::getMotorEncodersTimed
bool getMotorEncodersTimed(double *encs, double *ts) override
Read the instantaneous position of all motor encoders.
Definition RemoteControlBoard.cpp:1639
RemoteControlBoard::getImpedanceOffset
bool getImpedanceOffset(int j, double *offset) override
Get current force Offset for a specific joint.
Definition RemoteControlBoard.cpp:2284
RemoteControlBoard::getValWithPidType
bool getValWithPidType(int voc, PidControlTypeEnum type, int j, double *val)
Definition RemoteControlBoard.cpp:669
RemoteControlBoard::calibrateAxisWithParams
bool calibrateAxisWithParams(int j, unsigned int ui, double v1, double v2, double v3) override
Start calibration, this method is very often platform specific.
Definition RemoteControlBoard.cpp:2058
RemoteControlBoard::getNumberOfMotorEncoders
bool getNumberOfMotorEncoders(int *num) override
Get the number of available motor encoders.
Definition RemoteControlBoard.cpp:1686
RemoteControlBoard::disablePid
bool disablePid(const PidControlTypeEnum &pidtype, int j) override
Disable the pid computation for a joint.
Definition RemoteControlBoard.cpp:1315
RemoteControlBoard::getMotorEncoderSpeeds
bool getMotorEncoderSpeeds(double *spds) override
Read the instantaneous speed of all motor encoders.
Definition RemoteControlBoard.cpp:1659
RemoteControlBoard::getPWMLimit
bool getPWMLimit(int m, double *val) override
Definition RemoteControlBoard.cpp:1982
RemoteControlBoard::getCurrents
bool getCurrents(double *vals) override
Definition RemoteControlBoard.cpp:2819
RemoteControlBoard::disableAmp
bool disableAmp(int j) override
Disable the amplifier on a specific joint.
Definition RemoteControlBoard.cpp:1928
RemoteControlBoard::setVelLimits
bool setVelLimits(int axis, double min, double max) override
Set the software speed limits for a particular axis, the behavior of the control card when these limi...
Definition RemoteControlBoard.cpp:2011
RemoteControlBoard::getEncodersTimed
bool getEncodersTimed(double *encs, double *ts) override
Read the instantaneous acceleration of all axes.
Definition RemoteControlBoard.cpp:1433
RemoteControlBoard::getPids
bool getPids(const PidControlTypeEnum &pidtype, Pid *pids) override
Get current pid value for a specific joint.
Definition RemoteControlBoard.cpp:1239
RemoteControlBoard::get1V1I1D
bool get1V1I1D(int v, int j, double *val)
Helper method used to get a double value from the remote peer.
Definition RemoteControlBoard.cpp:727
RemoteControlBoard::getEncoderAccelerations
bool getEncoderAccelerations(double *accs) override
Read the instantaneous acceleration of all axes.
Definition RemoteControlBoard.cpp:1473
RemoteControlBoard::setMotorTorqueParams
bool setMotorTorqueParams(int j, const MotorTorqueParameters params) override
Set a subset of motor parameters (bemf, ktau etc) useful for torque control.
Definition RemoteControlBoard.cpp:2177
RemoteControlBoard::setLimits
bool setLimits(int axis, double min, double max) override
Set the software limits for a particular axis, the behavior of the control card when these limits are...
Definition RemoteControlBoard.cpp:2001
RemoteControlBoard::getTorqueRange
bool getTorqueRange(int j, double *min, double *max) override
Get the full scale of the torque sensor of a given joint.
Definition RemoteControlBoard.cpp:2249
RemoteControlBoard::setRefDutyCycles
bool setRefDutyCycles(const double *v) override
Sets the reference dutycycle for all the motors.
Definition RemoteControlBoard.cpp:2870
RemoteControlBoard::positionMove
bool positionMove(int j, double ref) override
Set new reference point for a single axis.
Definition RemoteControlBoard.cpp:1712
RemoteControlBoard::quitPark
bool quitPark() override
quitPark: interrupt the park procedure
Definition RemoteControlBoard.cpp:2744
RemoteControlBoard::get1V1I1I
bool get1V1I1I(int v, int j, int *val)
Helper method used to get an integer value from the remote peer.
Definition RemoteControlBoard.cpp:745
RemoteControlBoard::getAxisName
bool getAxisName(int j, std::string &name) override
Definition RemoteControlBoard.cpp:2025
RemoteControlBoard::getPidReferences
bool getPidReferences(const PidControlTypeEnum &pidtype, double *refs) override
Get the current reference of all pid controllers.
Definition RemoteControlBoard.cpp:1285
RemoteControlBoard::getRefCurrents
bool getRefCurrents(double *t) override
Get the reference value of the currents for all motors.
Definition RemoteControlBoard.cpp:2758
yarp::dev::DeviceDriver
Interface implemented by all device drivers.
Definition DeviceDriver.h:29
yarp::dev::IAmplifierControl
Interface for control devices, amplifier commands.
Definition IAmplifierControl.h:26
yarp::dev::IAxisInfo
Interface for getting information about specific axes, if available.
Definition IAxisInfo.h:36
yarp::dev::IControlCalibration
Interface for control devices, calibration commands.
Definition IControlCalibration.h:81
yarp::dev::IControlLimits
Interface for control devices, commands to get/set position and veloity limits.
Definition IControlLimits.h:26
yarp::dev::IControlMode
Interface for setting control mode in control board.
Definition IControlMode.h:23
yarp::dev::ICurrentControl
Interface for control boards implementing current control.
Definition ICurrentControl.h:23
yarp::dev::IEncodersTimed
Control board, extend encoder interface with timestamps.
Definition IEncodersTimed.h:54
yarp::dev::IImpedanceControl
Interface for control boards implementing impedance control.
Definition IImpedanceControl.h:70
yarp::dev::IInteractionMode
Interface settings the way the robot interacts with the environment: basic interaction types are Stif...
Definition IInteractionMode.h:38
yarp::dev::IJointFault
Interface for getting info about the fault which may occur on a robot.
Definition IJointFault.h:23
yarp::dev::IMotorEncoders
Control board, encoder interface.
Definition IMotorEncoders.h:150
yarp::dev::IMotor
Control board, encoder interface.
Definition IMotor.h:94
yarp::dev::IPWMControl
Interface for controlling an axis, by sending directly a PWM reference signal to a motor.
Definition IPWMControl.h:23
yarp::dev::IPidControl
Interface for a generic control board device implementing a PID controller, with scaled arguments.
Definition IPidControl.h:206
yarp::dev::IPositionControl
Interface for a generic control board device implementing position control.
Definition IPositionControl.h:252
yarp::dev::IPositionDirect
Interface for a generic control board device implementing position control.
Definition IPositionDirect.h:27
yarp::dev::IRemoteCalibrator
IRemoteCalibrator interface is meant to remotize the access of the calibration device in order to all...
Definition IRemoteCalibrator.h:28
yarp::dev::IRemoteVariables
IRemoteVariables interface.
Definition IRemoteVariables.h:46
yarp::dev::ITorqueControl
Interface for control boards implementing torque control.
Definition ITorqueControl.h:39
yarp::dev::IVelocityControl
Interface for control boards implementing velocity control.
Definition IVelocityControl.h:155
yarp::dev::Pid
Contains the parameters for a PID.
Definition ControlBoardPid.h:24
yarp::os::Bottle
A simple collection of objects that can be described and transmitted in a portable way.
Definition Bottle.h:64
yarp::os::BufferedPort
A mini-server for performing network communication in the background.
Definition BufferedPort.h:60
yarp::os::Port
A mini-server for network communication.
Definition Port.h:46
yarp::os::Searchable
A base class for nested structures that can be searched.
Definition Searchable.h:31
yarp::os::Stamp
An abstraction for a time stamp and/or sequence number.
Definition Stamp.h:21
yarp::dev::PidControlTypeEnum
PidControlTypeEnum
Definition PidEnums.h:15