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Device

The Device Library. More...

Compounds
class	ATISensor
	Derived class for ATI Force/Torque sensors. This class is derived from the abstract template class Sensor<Type>. Since this class is used to sense 6D end-effector force vectors accompanied by an error state, Sensor<Type> is customized to Sensor<Vector7> Note: This implementation of the ATI F/T sensor interfaces through the serial port. However, it can interface through DAQ too. The sensor controller supports tool transformations, temperature compensation, biasing, and a variety of error checking. More...
class	Device
class	Drill
	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...
class	KB2017Interface
class	LimitStatusArray
class	MachineInterface
class	PCRoboworksInterface
	This class multiply inherits from RoboworksInterface and PowerCubeBase classes. This is an interface for PowerCube simulation (when simulation is done in Roboworks.). It has following functionality. -Object construction and initialization -Homing -Resetting -Halting -Getting and setting positions of modules and gripper(if any) Note: for giving position commands call SetServoValue() (See RobotServoInterface.h). The implementation is in SetPosition(). More...
class	PowerCubeBase
	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...
class	PowerCubeInterface
	This class, derived from PowerCubeBase class, implements the software interface to control mechanism/robot hardware assembled from PowerCube modules manufactured by Amtec Robotics (http://www.amtec-robotics.com/index.html) that is part of the Schunk group(http://www.schunk.com/). More...
class	Relay
class	RobixInterface
class	RobotServoInterface
class	RoboworksInterface
class	Saw
	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...
class	Sensor
	Base class for all Sensors. Each Sensor should be derived from this class and should support all the methods. More...
class	ServoInterface
class	SprayGun
	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...
class	ThreeStateTool
	Base class for all tools that support Forward, Reverse, and Off functionality. More...
class	Tool
	Base class for all end effector tools. Each tool should be derived from this class and should support all the methods. More...
class	ToolChanger
	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...
class	TwoStateSwitch
	Base class for all switches that support On and Off functionality. More...
class	TwoStateTool
	Base class for all tools that support Forward (On) and Off functionality. More...
Variables
const OSCARError	HardwareErrors
const OSCARError	powerFailure
const OSCARError	connectionFailure
const OSCARError	deviceNotReady
const OSCARError	initializeFailure
const OSCARError	registerReadFailure
const OSCARError	registerWriteFailure
const OSCARError	portOpenFailure
const OSCARError	portReadFailure
const OSCARError	portWriteFailure
const OSCARError	notClosed
const OSCARError	parameterNotMatch
const OSCARError	valueNotSet
const OSCARError	parameterNotValid
const OSCARError	positionExcessError
const OSCARError	velocityExcessError
const OSCARError	torqueExcessError
const OSCARError	currentExcessError
const OSCARError	armPowerOffError
const OSCARError	illegalRoboWorksTagNameError
const OSCARError	robixDLLError
const OSCARError	robixEIError
const OSCARError	robixRobotError
const OSCARError	robixServoError
const OSCARError	nidaqError
const OSCARError	measurementComputingError
const OSCARError	powerCubeDLLError
const OSCARError	powerCubeCommError
const OSCARError	powerCubeLimitError
const OSCARError	powerCubePowerError
const OSCARError	powerCubeGeneralError
const OSCARError	kb2017GeneralError
const OSCARError	kb2017HomeError
const OSCARError	kb2017CommError
const OSCARError	illegalMotionTime
const OSCARError	roboTalkError
const OSCARError	atisensorSaturationError
const OSCARError	atisensorTransducerError
const OSCARError	atisensorMultipleError

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Detailed Description

This library contains classes for interfacing with a variety of devices.

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Variable Documentation

const OSCARError OSCAR::armPowerOffError

const OSCARError OSCAR::atisensorMultipleError

const OSCARError OSCAR::atisensorSaturationError

const OSCARError OSCAR::atisensorTransducerError

const OSCARError OSCAR::connectionFailure

const OSCARError OSCAR::currentExcessError

const OSCARError OSCAR::deviceNotReady

const OSCARError OSCAR::HardwareErrors

const OSCARError OSCAR::illegalMotionTime

const OSCARError OSCAR::illegalRoboWorksTagNameError

const OSCARError OSCAR::initializeFailure

const OSCARError OSCAR::kb2017CommError

const OSCARError OSCAR::kb2017GeneralError

const OSCARError OSCAR::kb2017HomeError

const OSCARError OSCAR::measurementComputingError

const OSCARError OSCAR::nidaqError

const OSCARError OSCAR::notClosed

const OSCARError OSCAR::parameterNotMatch

const OSCARError OSCAR::parameterNotValid

const OSCARError OSCAR::portOpenFailure

const OSCARError OSCAR::portReadFailure

const OSCARError OSCAR::portWriteFailure

const OSCARError OSCAR::positionExcessError

const OSCARError OSCAR::powerCubeCommError

const OSCARError OSCAR::powerCubeDLLError

const OSCARError OSCAR::powerCubeGeneralError

const OSCARError OSCAR::powerCubeLimitError

const OSCARError OSCAR::powerCubePowerError

const OSCARError OSCAR::powerFailure

const OSCARError OSCAR::registerReadFailure

const OSCARError OSCAR::registerWriteFailure

const OSCARError OSCAR::robixDLLError

const OSCARError OSCAR::robixEIError

const OSCARError OSCAR::robixRobotError

const OSCARError OSCAR::robixServoError

const OSCARError OSCAR::roboTalkError

const OSCARError OSCAR::torqueExcessError

const OSCARError OSCAR::valueNotSet

const OSCARError OSCAR::velocityExcessError

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