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

The AxisInterface represents an axis from a control point of view. More...

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

List of all members.

Public Member Functions

virtual bool stop ()=0
 Stop the Axis (electronically), brakes disabled, drive enabled and set to zero.
virtual bool lock ()=0
 Lock the Axis (mechanically), brakes enabled, drive disabled.
virtual bool unlock ()=0
 Unlock the Axis (mechanically), brakes enabled, drive enabled.
virtual bool drive (double v)=0
 Drive a certain 'physical unit' (eg velocity, torque,...).
virtual double getDriveValue () const =0
 Get the drive value (eg velocity, torque,...).
virtual bool isLocked () const =0
 Return true if the drive is disabled, and brakes are on.
virtual bool isStopped () const =0
 Return true if the drive is enabled but not moving, and brakes are off.
virtual bool isDriven () const =0
 Return true if the drive is enabled, and brakes are off.
virtual DigitalOutputgetBrake ()=0
 Get the brake signal of the Axis as a DigitalOutput.
virtual DigitalOutputgetEnable ()=0
 Get the enable signal of the Axis as a DigitalOutput.
virtual SensorInterface< double > * getSensor (const std::string &name) const =0
 Retrieve a sensor from the Axis.
virtual std::vector< std::string > sensorList () const =0
 Retrieve a list of the sensor from the Axis.
virtual DigitalInputgetSwitch (const std::string &name) const =0
 Retrieve a switch (digital input) from the Axis.
virtual std::vector< std::string > switchList () const =0
 Retrieve a list of the digital input switches from the Axis.
virtual SensorInterface< int > * getCounter (const std::string &name) const =0
 Retrieve a counter from the Axis.
virtual std::vector< std::string > counterList () const =0
 Retrieve a list of the counter from the Axis.

Detailed Description

The AxisInterface represents an axis from a control point of view.

Definition at line 45 of file AxisInterface.hpp.


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