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OSCAR::SprayGun Class Reference
[Device]

SprayGun provides a C++ interface to the custom spray gun tool for the Robotics Research Arm. This class uses digitial IO data-acquisition hardware for IO with the spray gun. The tool frame for the spray gun 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 spray gun is defined at the output nozzle of the spray gun. More...

#include <SprayGun.h>

Inheritance diagram for OSCAR::SprayGun:

[legend]List of all members.

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

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Detailed Description

Author:

Chetan Kapoor

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Constructor & Destructor Documentation

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

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

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

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

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Member Function Documentation

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

This will turn on the spray gun 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::SprayGun::Initialize (    )  [virtual]

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

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

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

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Member Data Documentation

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

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

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

• SprayGun.h

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