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OSCAR::PowerCubeBase Class Reference
[Device]

This is an abstract class for Amtec's PowerCube Interface (both hardware and simulation modules inherit from this class.) having following functionality -Initialization -Homing -Resetting -functionality related to gripper -retrieving and setting different attributes (like current limits). More...

#include <PowerCubeBase.h>

Inheritance diagram for OSCAR::PowerCubeBase:

[legend]List of all members.


Public Methods
	PowerCubeBase (const unsigned int _dof, const bool _hasGripper, const String &name=String(), OSCARError &_err=DUMMY_ERROR(noError))
virtual	~PowerCubeBase ()
bool	GetInitString (String &_initString)
virtual bool	GetNumModules (unsigned int &count)=0
virtual bool	HasGripper ()
virtual bool	Home (unsigned int modNo)
virtual bool	HomeQuiet (unsigned int modNo)
bool	Home (BoolArray bHomeArray)
bool	Home ()
virtual bool	Halt ()=0
virtual bool	Reset (unsigned int modNo)
bool	Reset (const BoolArray &bResetArray)
bool	Reset ()
virtual bool	OpenGripper (double openPos)
virtual bool	GetCurrent (VectorF &currentArray)
virtual bool	GetCurrentLimits (VectorF &currentLimits)
virtual bool	SetCurrentLimits (const VectorF &currentLimits)
bool	GetMotionTime (double &_time)
bool	SetMotionTime (double _dTimeStep)
bool	GetExcessError (ControlType _type, VectorF &_excessError)
bool	SetExcessError (ControlType _type, const VectorF &_excessError)
virtual bool	GetStatusFlag (unsigned int modNo, unsigned long flag, bool &isSet)
bool	CheckExcessError (ControlType _type, const VectorF &values, BoolArray &isExcess)
Protected Methods
bool	checkPositionExcessError (const VectorF &pos, BoolArray &isExcess)
bool	checkVelocityExcessError (const VectorF &vel, BoolArray &isExcess)
bool	checkPositionExcessError (int modNo, const float pos, bool &isExcess)
bool	checkVelocityExcessError (int modNo, const float vel, bool &isExcess)
virtual bool	getPosition (VectorF &jointValues)=0
virtual bool	setPosition (const VectorF &jointValues)=0
virtual bool	getVelocity (VectorF &jointVelocities)=0
virtual bool	setVelocity (const VectorF &jointVelocities)=0
virtual bool	setVelocityLimits (const VectorF &_minJointVel, const VectorF &_maxJointVel)
Protected Attributes
double	dTimeStep
int	iDevice
unsigned int	iNumModules
bool	bHasGripper
String	initString
int	iIDMap [MAX_MODULES]
bool	isPosExcessErrorSet
bool	isVelExcessErrorSet
bool	isMotionTimeSet
VectorF	fPosExcessError
VectorF	fVelExcessError

Detailed Description

Author:: Initial Implementation: Ed Jung

Constructor & Destructor Documentation

OSCAR::PowerCubeBase::PowerCubeBase ( const unsigned int _dof,

const bool _hasGripper,

const String & name = String(),

OSCARError & _err = DUMMY_ERROR(noError)

)

Constructor for the PowerCubeBase class. This class is an abstract class:.

Parameters:

const unsigned int _dof = Corresponds to the number of modules connected to the CAN bus const bool _hasGripper = true if a gripper is attached = false otherwise const String& name = This is an object name to facilitate easy reference to the PowerCubeInterface object within the application OSCARError& err = An OSCAR error object that is used to handle errors generated.

Exceptions:

\sa ~PowerCubeBase()

virtual OSCAR::PowerCubeBase::~PowerCubeBase ( ) [virtual]

Destructor for the PowerCubeBase class. It is an abstract class:.

See also:
PowerCubeBase(

Member Function Documentation

bool OSCAR::PowerCubeBase::CheckExcessError ( ControlType _type,

const VectorF & values,

BoolArray & isExcess

)

bool OSCAR::PowerCubeBase::checkPositionExcessError ( int modNo,

const float pos,

bool & isExcess

) [protected]

bool OSCAR::PowerCubeBase::checkPositionExcessError ( const VectorF & pos,

BoolArray & isExcess

) [protected]

bool OSCAR::PowerCubeBase::checkVelocityExcessError ( int modNo,

const float vel,

bool & isExcess

) [protected]

bool OSCAR::PowerCubeBase::checkVelocityExcessError ( const VectorF & vel,

BoolArray & isExcess

) [protected]

virtual bool OSCAR::PowerCubeBase::GetCurrent ( VectorF & currentArray ) [virtual]

Gets current of modules -This method must be overriden. The method only performs input data checking, so in the derived class method, the base class method must be called first.

Parameters:

VectorF& currentArray = Float array of size equal to the number of modules

Returns:
bool = true if the command is sent successfully

Reimplemented in OSCAR::PCRoboworksInterface, and OSCAR::PowerCubeInterface.

virtual bool OSCAR::PowerCubeBase::GetCurrentLimits ( VectorF & currentLimits ) [virtual]

Gets max allowable current -This method must be overriden. The method only performs input data checking, so in the derived class method, the base class method must be called first.

Parameters:

VectorF& currentLimit = Float array of size equal to the number of modules

Returns:
bool = true if the command is sent successfully

Reimplemented in OSCAR::PowerCubeInterface.

bool OSCAR::PowerCubeBase::GetExcessError ( ControlType _type,

VectorF & _excessError

)

Gets the protected member excess error.

Returns:
: void

Parameters:

ControlType _type = type of error (Position, Velocity, Current) VectorF& _excessError = array to store the excess error for each module

See also:
SetExcessError()

bool OSCAR::PowerCubeBase::GetInitString ( String & _initString )

Gets initialization string for robot.

Parameters:

String _initString = Specifies the CAN bus device used, the port number , and the baud rate in kbps. Example "ESD:0,250", which means that the CAN bus device used is ESD CAN device, 0 is the port number on the host computer, and 250 kbps is the baudrate

Returns:
bool = true if command successful

bool OSCAR::PowerCubeBase::GetMotionTime ( double & _time )

gets the timestep -This method must be overriden. The method only performs input data checking, so in the derived class method, the base class method must be called first.

Parameters:

double& _time = the timestep

Returns:
bool = true if the command is successful

virtual bool OSCAR::PowerCubeBase::GetNumModules ( unsigned int & count ) [pure virtual]

pure virtual: Gets the number of modules attached to the robot.

Parameters:

unsigned int& count = number of modules

Returns:
bool = true if the number of modules is successfully read, false if not

Implemented in OSCAR::PCRoboworksInterface, and OSCAR::PowerCubeInterface.

virtual bool OSCAR::PowerCubeBase::getPosition ( VectorF & jointValues ) [protected, pure virtual]

Reimplemented from OSCAR::RobotServoInterface.
Implemented in OSCAR::PCRoboworksInterface, and OSCAR::PowerCubeInterface.

virtual bool OSCAR::PowerCubeBase::GetStatusFlag ( unsigned int modNo,

unsigned long flag,

bool & isSet

) [virtual]

Brief Checks whether or not a status flag is set for a module -This method must be overriden.
The method only performs input data checking, so in the derived class method, the base class method must be called first.
Returns:
bool returns error codes from the m5 api provided by Amtec.

Parameters:

input: modNo = the module number of the module flag = the status flag to check. These are described in the Amtec documentation. isSet = returns true if the flag is set, false if not.

Reimplemented in OSCAR::PCRoboworksInterface, and OSCAR::PowerCubeInterface.

virtual bool OSCAR::PowerCubeBase::getVelocity ( VectorF & jointVelocities ) [protected, pure virtual]

Reimplemented from OSCAR::RobotServoInterface.
Implemented in OSCAR::PCRoboworksInterface, and OSCAR::PowerCubeInterface.

virtual bool OSCAR::PowerCubeBase::Halt ( ) [pure virtual]

pure virtual: Stops all modules immediately.Modules cannot be moved until they are reset.

Returns:
bool = true if no error

Implemented in OSCAR::PCRoboworksInterface, and OSCAR::PowerCubeInterface.

virtual bool OSCAR::PowerCubeBase::HasGripper ( ) [virtual]

Tells whether or not a powercube gripper is attached.

Returns:
bool = true if powercube gripper is attached, false if not

bool OSCAR::PowerCubeBase::Home ( )

-Sends all modules to the home position. -Functionality implemented in derived class.

Returns:
bool = true if no error

bool OSCAR::PowerCubeBase::Home ( BoolArray bHomeArray )

-Sends modules to the home position. -Functionality implemented in derived class. -example: For a 3DOF robot BoolArray bInitArray(3, {true, false, true}); robot.Home(bInitArray); This call would send modules 1 and 3 home.

Parameters:

BoolArray bHomeArray = Boolean array of modules to initialize

Returns:
bool = true if modules are homed successfully

virtual bool OSCAR::PowerCubeBase::Home ( unsigned int modNo ) [virtual]

-Sends a single module to the zero position. -Functionality implemented in derived class. example: For a 3DOF robot, robot.Home(2); This command would home module 3 -This method must be overriden. The method only performs input data checking, so in the derived class method, the base class method must be called first.

Parameters:

unsigned int modNo = Module number. Indexing starts at 0, so the first module would be 0, the second module would be 1, etc...

Returns:
bool = true if module homed successfully

Reimplemented in OSCAR::PCRoboworksInterface, and OSCAR::PowerCubeInterface.

virtual bool OSCAR::PowerCubeBase::HomeQuiet ( unsigned int modNo ) [virtual]

-Sends a single module to the zero position, without interactive confirmation -Functionality implemented in derived class. example: For a 3DOF robot, robot.Home(2); This command would home module 3 -This method must be overriden. The method only performs range check on supplied model number. There is no interactive confirmation. So in the derived class method, the base class method must be called first.

Parameters:

unsigned int modNo = Module number. Indexing starts at 0, so the first module would be 0, the second module would be 1, etc...

Returns:
bool = true if module homed successfully

Reimplemented in OSCAR::PCRoboworksInterface, and OSCAR::PowerCubeInterface.

virtual bool OSCAR::PowerCubeBase::OpenGripper ( double openPos ) [virtual]

open the gripper if present -This method must be overriden. The method only performs input data checking, so in the derived class method, the base class method must be called first.

Parameters:

double openPos = position to send gripper to

Returns:
bool = true if the command is sent successfully

Reimplemented in OSCAR::PCRoboworksInterface, and OSCAR::PowerCubeInterface.

bool OSCAR::PowerCubeBase::Reset ( )

Resets all modules to recover from an error or halt condition. -After an error or halt command which causes the module to stop running this command must be sent to reset all the modules from the error condition. This command cannot be used to recover from certain error conditions. See Amtec docs.

Returns:
bool = true if the reset command is sent successfully

bool OSCAR::PowerCubeBase::Reset ( const BoolArray & bResetArray )

Resets modules to recover from an error or halt condition. -example: for a 3DOF robot; BoolArray bResetArray(3, {true, false, true}); robot.reset(bResetArray); -After an error or halt command which causes the module to stop running this command must be sent to reset all the modules from the error condition. This command cannot be used to recover from certain error conditions. See Amtec docs.

Parameters:

BoolArray& bResetArray = Boolean array of modules to reset

Returns:
bool

virtual bool OSCAR::PowerCubeBase::Reset ( unsigned int modNo ) [virtual]

Resets modules to recover from an error or halt condition. -example: robot.reset(2); This call would reset module 3. -After an error or halt command which causes the module to stop running this command must be sent to reset all the modules from the error condition. This command cannot be used to recover from certain error conditions. See Amtec docs. -This method must be overriden. The method only performs input data checking, so in the derived class method, the base class method must be called first.

Parameters:

unsigned int modNo = the module number to be reseted handle.

Returns:
bool

Reimplemented in OSCAR::PCRoboworksInterface.

virtual bool OSCAR::PowerCubeBase::SetCurrentLimits ( const VectorF & currentLimits ) [virtual]

sets max allowable current -This method must be overriden. The method only performs input data checking, so in the derived class method, the base class method must be called first.

Parameters:

VectorF& currentLimit = Float array of size equal to the number of modules

Returns:
bool = true if the command is sent successfully

Reimplemented in OSCAR::PowerCubeInterface.

bool OSCAR::PowerCubeBase::SetExcessError ( ControlType _type,

const VectorF & _excessError

)

Sets the protected member excess error. -This method is used to trap sudden moves in software -If the difference between any two successive servo commands exceeds the excess error, an error will be set and the command will not execute -This method must be called before executing any motion commands. The default value for a new instance is 0, so no movements will be executed.

Returns:
void

Parameters:

ControlType _type -- {Position, Velocity, Torque}. Sets whether the excess error is for Position, Velocity, or Torque. Torque is not suppoprte const VectorF& _excessError -- array to store the excess error for each module

See also:
GetExcessError()

bool OSCAR::PowerCubeBase::SetMotionTime ( double _dTimeStep )

Sets protected data member dTimeStep.

Returns:
bool= true if timestep is valid, false otherwise

Parameters:

double _dTimeStep = time step for position moves in milliseconds

virtual bool OSCAR::PowerCubeBase::setPosition ( const VectorF & jointValues ) [protected, pure virtual]

Reimplemented from OSCAR::RobotServoInterface.
Implemented in OSCAR::PCRoboworksInterface, and OSCAR::PowerCubeInterface.

virtual bool OSCAR::PowerCubeBase::setVelocity ( const VectorF & jointVelocities ) [protected, pure virtual]

Reimplemented from OSCAR::RobotServoInterface.
Implemented in OSCAR::PCRoboworksInterface, and OSCAR::PowerCubeInterface.

virtual bool OSCAR::PowerCubeBase::setVelocityLimits ( const VectorF & _minJointVel,

const VectorF & _maxJointVel

) [protected, virtual]

Reimplemented from OSCAR::RobotServoInterface.
Reimplemented in OSCAR::PCRoboworksInterface, and OSCAR::PowerCubeInterface.