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OSCAR::ToolChanger Class Reference
[Device]

ToolChanger provides a C++ interface to the tool changers mounted on the Robotics Research Arm. This class uses ditial IO data-acquisition drivers for IO with the tool changers. The tool frame for the ToolChangers 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 tool changer is defined in the XY plane, with the Z axis from the tool changer base plate towards the tool attachment plate. More...

#include <ToolChanger.h>

Inheritance diagram for OSCAR::ToolChanger:

Inheritance graph
[legend]
List of all members.

Public Methods

 ToolChanger (unsigned int lineNo, DIO &dio, OSCARError &err=DUMMY_ERROR(noError))
bool Initialize ()
virtual ~ToolChanger ()
bool On ()
bool Off ()

Private Methods

 ToolChanger (const ToolChanger &)
ToolChanger & operator= (const ToolChanger &)

Private Attributes

unsigned int lineNo
DIO * dio

Detailed Description

Author:
Chetan Kapoor

Constructor & Destructor Documentation

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

Constructor for ToolChanger. 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 Tool Changer.
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::ToolChanger::~ToolChanger (    )  [inline, virtual]
 

Destructor.

If ToolChanger is not closed, it calls Close()

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

Member Function Documentation

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

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

This will clamp on the tool changer.

The call mode has no effect in the case of the tool changer and this method returns immediately

Returns:
true or false. if false, call GetError() to get detailed error information
Exceptions:
notInitialized notInitialized

Implements OSCAR::TwoStateSwitch.

bool OSCAR::ToolChanger::On (    )  [virtual]
 

This will release the tool changer.

The call mode has no effect in the case of the tool changer and this method returns immediately

Returns:
true or false. if false, call GetError() to get detailed error information
Exceptions:
notInitialized notInitialized

Reimplemented from OSCAR::TwoStateSwitch.

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

Member Data Documentation

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

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

The documentation for this class was generated from the following file:
RRG Homepage OSCAR Overview OSCAR Tutorials Simulations