#include <Kuka361nAxesTorqueController.hpp>
Public Member Functions | |
| Kuka361nAxesTorqueController (std::string name) | |
| The contructor of the class. | |
| virtual bool | configureHook () |
| virtual bool | startHook () |
| This function contains the application's startup code. | |
| virtual void | updateHook () |
| This function is periodically called. | |
| virtual void | stopHook () |
| This function is called when the task is stopped. | |
| virtual void | cleanupHook () |
Protected Attributes | |
|
RTT::DataPort< std::vector < double > > | driveValues |
| vector of ReadDataPorts which contain the output velocities of the axes. | |
| std::vector< double > | driveValues_local |
| RTT::DataPort< std::vector < double > > | positionValues |
| vector of WriteDataPorts which contain the values of the position sensors. | |
| std::vector< double > | positionValues_local |
|
RTT::DataPort< std::vector < double > > | velocityValues |
| vector of WriteDataPorts which contain the values of the tachometer. | |
| std::vector< double > | velocityValues_local |
|
RTT::DataPort< std::vector < double > > | torqueValues |
| vector of WriteDataPorts which contain the values of the current sensors transformed to torque. | |
| std::vector< double > | torqueValues_local |
| RTT::WriteDataPort< double > | delta_time_Port |
| Port containing time since previous update (samole time). | |
| RTT::Property< std::vector < double > > | velocityLimits |
| The absolute value of the velocity will be limited to this property. | |
| RTT::Property< std::vector < double > > | currentLimits |
| The absolute value of the current will be limited to this property. | |
| RTT::Property< std::vector < double > > | lowerPositionLimits |
| Lower limit for the positions. | |
| RTT::Property< std::vector < double > > | upperPositionLimits |
| upper limit for the positions. | |
| RTT::Property< std::vector < double > > | initialPosition |
| Start position in rad for simulation. | |
|
RTT::Property< std::vector < double > > | velDriveOffset |
| Offset to the drive value volt = (setpoint + offset)/scale. | |
| RTT::Property< bool > | simulation |
| True if simulationAxes should be used in stead of hardware axes. | |
| RTT::Constant< unsigned int > | num_axes |
| Constant: number of axes. | |
| RTT::Event< void(std::string) > | velocityOutOfRange |
| parameters to this event are the axis and the velocity that is out of range. | |
| RTT::Event< void(std::string) > | currentOutOfRange |
| parameters to this event are the axis and the current that is out of range. | |
| RTT::Event< void(std::string) > | positionOutOfRange |
| parameters to this event are the axis and the position that is out of range. | |
Mechanical Engineering, KULEUVEN. Since the hardware part is very specific for our setup, other people can only use the simulation version. But it can be a good starting point to create your own Robot Software Interface.
Definition at line 57 of file Kuka361nAxesTorqueController.hpp.
| Kuka361nAxesTorqueController | ( | std::string | name | ) |
The contructor of the class.
| name | Name of the TaskContext | |
| propertyfilename | name of the propertyfile to configure the component with, default: cpf/Kuka361nAxesTorqueController.cpf |
Creating and adding the data-ports
Adding the events :
Definition at line 84 of file Kuka361nAxesTorqueController.cpp.
References Kuka361nAxesTorqueController::currentLimits, Kuka361nAxesTorqueController::currentOutOfRange, Kuka361nAxesTorqueController::delta_time_Port, Kuka361nAxesTorqueController::driveValues, Kuka361nAxesTorqueController::initialPosition, Kuka361nAxesTorqueController::lowerPositionLimits, Kuka361nAxesTorqueController::num_axes, Kuka361nAxesTorqueController::positionOutOfRange, Kuka361nAxesTorqueController::positionValues, Kuka361nAxesTorqueController::simulation, Kuka361nAxesTorqueController::torqueValues, Kuka361nAxesTorqueController::upperPositionLimits, Kuka361nAxesTorqueController::velDriveOffset, Kuka361nAxesTorqueController::velocityLimits, Kuka361nAxesTorqueController::velocityOutOfRange, and Kuka361nAxesTorqueController::velocityValues.
| bool startHook | ( | ) | [virtual] |
This function contains the application's startup code.
Return false to abort startup.
Definition at line 389 of file Kuka361nAxesTorqueController.cpp.
References Kuka361nAxesTorqueController::positionValues.
RTT::Property<std::vector <double> > currentLimits [protected] |
The absolute value of the current will be limited to this property.
Used to fire an event if necessary and to saturate the currents. It is a good idea to set this property to a low value when using experimental code.
Definition at line 121 of file Kuka361nAxesTorqueController.hpp.
Referenced by Kuka361nAxesTorqueController::Kuka361nAxesTorqueController().
RTT::Event< void(std::string) > currentOutOfRange [protected] |
parameters to this event are the axis and the current that is out of range.
Each axis that is out of range throws a seperate event. The component will continue with the previous value.
Definition at line 169 of file Kuka361nAxesTorqueController.hpp.
Referenced by Kuka361nAxesTorqueController::Kuka361nAxesTorqueController().
RTT::WriteDataPort< double > delta_time_Port [protected] |
Port containing time since previous update (samole time).
Definition at line 106 of file Kuka361nAxesTorqueController.hpp.
Referenced by Kuka361nAxesTorqueController::Kuka361nAxesTorqueController(), and Kuka361nAxesTorqueController::updateHook().
RTT::Property<std::vector <double> > initialPosition [protected] |
Start position in rad for simulation.
If the encoders are relative ( like for this component ) also the starting value for the relative encoders.
Definition at line 138 of file Kuka361nAxesTorqueController.hpp.
Referenced by Kuka361nAxesTorqueController::Kuka361nAxesTorqueController().
RTT::Property<std::vector <double> > lowerPositionLimits [protected] |
Lower limit for the positions.
Used to fire an event if necessary.
Definition at line 127 of file Kuka361nAxesTorqueController.hpp.
Referenced by Kuka361nAxesTorqueController::Kuka361nAxesTorqueController(), and Kuka361nAxesTorqueController::updateHook().
RTT::Event< void(std::string) > positionOutOfRange [protected] |
parameters to this event are the axis and the position that is out of range.
Each axis that is out of range throws a seperate event. The component will continue. The hardware limit switches can be reached when this event is not handled.
Definition at line 177 of file Kuka361nAxesTorqueController.hpp.
Referenced by Kuka361nAxesTorqueController::Kuka361nAxesTorqueController(), and Kuka361nAxesTorqueController::updateHook().
RTT::DataPort<std::vector<double> > positionValues [protected] |
vector of WriteDataPorts which contain the values of the position sensors.
It is used by other components who need this value for control ;)
Definition at line 85 of file Kuka361nAxesTorqueController.hpp.
Referenced by Kuka361nAxesTorqueController::Kuka361nAxesTorqueController(), Kuka361nAxesTorqueController::startHook(), and Kuka361nAxesTorqueController::updateHook().
RTT::Property<std::vector <double> > upperPositionLimits [protected] |
upper limit for the positions.
Used to fire an event if necessary.
Definition at line 132 of file Kuka361nAxesTorqueController.hpp.
Referenced by Kuka361nAxesTorqueController::Kuka361nAxesTorqueController(), and Kuka361nAxesTorqueController::updateHook().
RTT::Property<std::vector <double> > velocityLimits [protected] |
The absolute value of the velocity will be limited to this property.
Used to fire an event if necessary and to saturate the velocities. It is a good idea to set this property to a low value when using experimental code.
Definition at line 114 of file Kuka361nAxesTorqueController.hpp.
Referenced by Kuka361nAxesTorqueController::Kuka361nAxesTorqueController(), and Kuka361nAxesTorqueController::updateHook().
RTT::Event< void(std::string) > velocityOutOfRange [protected] |
parameters to this event are the axis and the velocity that is out of range.
Each axis that is out of range throws a seperate event. The component will continue with the previous value.
Definition at line 162 of file Kuka361nAxesTorqueController.hpp.
Referenced by Kuka361nAxesTorqueController::Kuka361nAxesTorqueController(), and Kuka361nAxesTorqueController::updateHook().
1.5.8