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OSCAR::Saw Class Reference
[Device]

Saw provides a C++ interface to the custom saw tool for the Robotics Research Arm. This class uses Digital IO hardware for IO with the saw. The tool frame for the saw 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 tool point for the saw is defined as point on the leading edge of the skid plate of the saw which is colinear with the saw blade. More...

#include <Saw.h>

Inheritance diagram for OSCAR::Saw:

[legend]List of all members.

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

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Detailed Description

Author:

Chetan Kapoor

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Constructor & Destructor Documentation

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

Constructor for Saw. 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 Saw. 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::Saw::~Saw (    )  [inline, virtual]

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

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

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Member Function Documentation

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

This will turn on the saw 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::Saw::Initialize (    )  [virtual]

Initializes the Saw. 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::Saw::Off (    )  [virtual]

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

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

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

This will turn on the saw 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

Relay* OSCAR::Saw::air [private]

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

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

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

• Saw.h

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