Orocos Real-Time Toolkit  2.6.0
Public Member Functions
RTT::dev::DriveInterface Class Reference

A Drive Object controls a single axis. More...

#include <rtt/extras/dev/DriveInterface.hpp>

List of all members.

Public Member Functions

virtual bool enableDrive ()=0
 Enable the drive.
virtual bool disableDrive ()=0
 Disable the drive.
virtual bool isEnabled () const =0
 Query if the drive is enabled or not.
virtual DigitalOutputgetEnable ()=0
 Get the enable signal of the drive as a DigitalOutput.
virtual void addOffset (double addoffset)=0
 Add an offset to the current drive value.
virtual double getOffset ()=0
 Get the current offset.
virtual bool driveSet (double v)=0
 Sets a new velocity.
virtual double driveGet () const =0
 Returns the current drive velocity.
virtual double maxDriveGet () const =0
 Returns the maximum drive velocity without limitations.
virtual double minDriveGet () const =0
 Returns the minimum drive velocity without limitations.
virtual void limit (double lower, double higher, const internal::Signal< void(std::string)> &ev)=0
 Limit the velocity of the drive.

Detailed Description

A Drive Object controls a single axis.

It is responsible for keeping track of its status (enabled, disabled).

Definition at line 56 of file DriveInterface.hpp.


Member Function Documentation

virtual void RTT::dev::DriveInterface::addOffset ( double  addoffset) [pure virtual]

Add an offset to the current drive value.

Use this value to compensate for drift when the drive is enabled.

virtual bool RTT::dev::DriveInterface::driveSet ( double  v) [pure virtual]

Sets a new velocity.

Parameters:
vThe velocity
Returns:
false if not enabled.

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