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OSCAR::Drill Class Reference
[Device]

Drill provides a C++ interface to the custom drill tool for the Robotics Research Arm. This class uses DIO abstract class for IO with the drill. The tool frame for the drill is also set during the construction of this object. A call to GetToolFrame will return the tool frame. The units in which the tool frame is returned are inches. The base plate of the drill is defined in the XY plane, with the Z axis from the drill base plate to the center contact point of the drill. More...

#include <Drill.h>

Inheritance diagram for OSCAR::Drill:

[legend]List of all members.

Public Methods
	Drill (unsigned int lineNo, DIO &dio, OSCARError &err=DUMMY_ERROR(noError))
bool	Initialize ()
virtual	~Drill ()
bool	Forward ()
bool	Reverse ()
bool	Off ()
Private Methods
	Drill (const Drill &)
Drill &	operator= (const Drill &)
Private Attributes
DIO *	dio
unsigned int	lineNo

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Detailed Description

Author:

Chetan Kapoor

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Constructor & Destructor Documentation

OSCAR::Drill::Drill (  unsigned int    lineNo, DIO &    dio, OSCARError &    err = DUMMY_ERROR(noError) )

Constructor for Drill. This class uses abstract class DIO for digitial IO. Drivers for specific instantiation of DIO shouldb be installed on your system for this class to work. Parameters: lineNo  The number of the digital line that is used to interface with the Drill. The Drill uses two digital lines. First is specified by lineNo and the next is lineNo + 1. Make sure that lineNo+1 is a valid digital line dio  An object that implements the interface defined in DIO err  An OSCARError object that on return will hold the value of the error code that was generated when the constructor was called. If this error was not 'noError' you can call GetError() to get the details of the error code.

virtual OSCAR::Drill::~Drill (    )  [inline, virtual]

Destructor. If Drill is not closed, it calls Close()

OSCAR::Drill::Drill (  const Drill &    )  [private]

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Member Function Documentation

bool OSCAR::Drill::Forward (    )  [virtual]

This will turn on the drill in the forward direction. Returns: true or false. if false, call GetError() to get detailed error information Exceptions: notInitialized  notInitialized Reimplemented from OSCAR::TwoStateTool.

bool OSCAR::Drill::Initialize (    )  [virtual]

Initializes the Drill. A call to this method is required before On() and Off() can be called. Returns: true or false. if false, call GetError() to get detailed error information Exceptions: nidaqError  nidaqError Reimplemented from OSCAR::Device.

bool OSCAR::Drill::Off (    )  [virtual]

This will turn off the drill. Returns: true or false. if false, call GetError() to get detailed error information Exceptions: notInitialized  notInitialized Implements OSCAR::TwoStateTool.

Drill& OSCAR::Drill::operator= (  const Drill &    )  [private]

bool OSCAR::Drill::Reverse (    )  [virtual]

This will turn on the drill in the reverse direction. Returns: true or false. if false, call GetError() to get detailed error information Exceptions: notInitialized  notInitialized Reimplemented from OSCAR::ThreeStateTool.

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Member Data Documentation

DIO* OSCAR::Drill::dio [private]

unsigned int OSCAR::Drill::lineNo [private]

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

• Drill.h

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