Axis Class Reference
Axis is an example of how you can easily implement a generic axis using the Device Interfaces.
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#include <Axis.hpp>
List of all members.
Public Member Functions |
| | Axis (DriveInterface *adrive) |
| | Create an Axis with an DriveInterface.
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| virtual | ~Axis () |
| | Disable the Drive and destruct the Axis object.
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virtual bool | stop () |
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virtual bool | lock () |
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virtual bool | unlock () |
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virtual bool | drive (double v) |
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virtual bool | isLocked () const |
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virtual bool | isStopped () const |
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virtual bool | isDriven () const |
| virtual void | limitDrive (double lower, double higher, const Event< void(std::string)> &ev) |
| | Limit the range of the axis between lower and higher angle.
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| void | setBrake (DigitalOutput *brk) |
| | Add a brake to the Axis.
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DigitalOutput * | getBrake () |
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DigitalOutput * | getEnable () |
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void | setDrive (DriveInterface *a) |
| | Sets the drive used.
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DriveInterface * | getDrive () const |
| | Returns the drive used.
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double | getDriveValue () const |
| | Returns the last drive value that has been send.
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virtual SensorInterface< double > * | getSensor (const std::string &name) const |
| void | setSensor (const std::string &name, SensorInterface< double > *_sens) |
| | Add a sensor to the Axis (position, velocity, torque,.
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virtual std::vector< std::string > | sensorList () const |
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virtual DigitalInput * | getSwitch (const std::string &name) const |
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virtual std::vector< std::string > | switchList () const |
| void | setSwitch (const std::string &name, DigitalInput *_digin) |
| | Add a digital input to the Axis (home switch, end of run,.
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virtual SensorInterface< int > * | getCounter (const std::string &name) const |
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virtual std::vector< std::string > | counterList () const |
| void | setCounter (const std::string &name, SensorInterface< int > *_sens) |
| | Add a counter to the Axis (position, turns,.
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Detailed Description
Axis is an example of how you can easily implement a generic axis using the Device Interfaces.
Calibration of the sensors must be done outside of this object, since sensor calibration is to specific per sensor.
- See also:
- CalibrationInterface
The EndLimit switches limit the drive() command. Each Sensor added must impose a software limit on drive().
Definition at line 55 of file Axis.hpp.
Constructor & Destructor Documentation
| Axis |
( |
DriveInterface * |
adrive |
) |
|
Create an Axis with an DriveInterface.
- Parameters:
-
| adrive | The drive of this axis. |
Definition at line 32 of file Axis.cpp.
Disable the Drive and destruct the Axis object.
- Postcondition:
- Drive, Sensors and DigitalInput objects are deleted.
Definition at line 40 of file Axis.cpp.
Member Function Documentation
| void limitDrive |
( |
double |
lower, |
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|
double |
higher, |
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const Event< void(std::string)> & |
ev | |
|
) |
| | [virtual] |
Limit the range of the axis between lower and higher angle.
The provided event will be fired when the axis exceeds this range limit.
Definition at line 147 of file Axis.cpp.
| void setBrake |
( |
DigitalOutput * |
brk |
) |
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Add a brake to the Axis.
It is aggregated.
Definition at line 238 of file Axis.cpp.
| void setCounter |
( |
const std::string & |
name, |
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SensorInterface< int > * |
_sens | |
|
) |
| | |
Add a counter to the Axis (position, turns,.
..). The SensorInterface object is aggregated.
- Parameters:
-
| name | The name of the counter. |
| _sens | The counter. |
Definition at line 199 of file Axis.cpp.
| void setSensor |
( |
const std::string & |
name, |
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|
SensorInterface< double > * |
_sens | |
|
) |
| | |
Add a sensor to the Axis (position, velocity, torque,.
..). The sensor is aggregated.
- Parameters:
-
| name | The name of the sensor. |
| _sens | The sensor |
Definition at line 153 of file Axis.cpp.
| void setSwitch |
( |
const std::string & |
name, |
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DigitalInput * |
_digin | |
|
) |
| | |
Add a digital input to the Axis (home switch, end of run,.
..). The _digin object is aggregated.
- Parameters:
-
| name | The name of the input. |
| _digin | The DigitalInput. |
Definition at line 176 of file Axis.cpp.
The documentation for this class was generated from the following files:
