BACKUP_CANOpenRobotController/DummyActJoint_8h_source.html

 #ifndef DUMMYACTJOINT_H_INCLUDED
 #define DUMMYACTJOINT_H_INCLUDED

 #include "ActuatedJoint.h"

 class DummyActJoint : public ActuatedJoint {
    private:
     double lastQCommand = 0;

     double fromDriveUnits(int driveValue) { return driveValue / 10000; };
     int toDriveUnits(double jointValue) { return jointValue * 10000; };

    public:
     DummyActJoint(int jointID, double jointMin, double jointMax, Drive *drive);
     bool updateValue();
     setMovementReturnCode_t setPosition(double desQ);
     bool initNetwork();
     double getQ();
 };

 #endif
DummyActJoint::toDriveUnits
int toDriveUnits(double jointValue)
Converts from the joint value to the equivalent value for the drive.
Definition: DummyActJoint.h:32

Drive
Abstract class describing a Drive used to communicate with a CANbus device. Note that many functions ...
Definition: Drive.h:105

DummyActJoint::initNetwork
bool initNetwork()
Pure virtual function for initialising the underlying CANopen Network to send and recieve PDO message...
Definition: DummyActJoint.cpp:34

DummyActJoint
Example implementation of the ActuatedJoints class.
Definition: DummyActJoint.h:22

ActuatedJoint.h
The ActuatedJoint class is a abstract class which represents a joint in a Robot objec. This class implements the Joint class, and specifically represents a joint which is actuated. This therefore requires a Drive object which will be used to interact with the physical hardware.

DummyActJoint::fromDriveUnits
double fromDriveUnits(int driveValue)
These functions are defined here for example In this implementation they do essentially nothing...
Definition: DummyActJoint.h:31

DummyActJoint::lastQCommand
double lastQCommand
Definition: DummyActJoint.h:24

DummyActJoint::getQ
double getQ()
Definition: DummyActJoint.cpp:42

setMovementReturnCode_t
setMovementReturnCode_t
Definition: ActuatedJoint.h:35

ActuatedJoint
Abstract class representing an actuated joint in a Robot Class (extending joint). Requires a Drive ob...
Definition: ActuatedJoint.h:47

DummyActJoint::DummyActJoint
DummyActJoint(int jointID, double jointMin, double jointMax, Drive *drive)
Definition: DummyActJoint.cpp:17

ActuatedJoint::drive
Drive * drive
Contains a Drive object, which is a CANOpen device which is used to control the physical hardware...
Definition: ActuatedJoint.h:54

DummyActJoint::updateValue
bool updateValue()
Updates the value of the joint. This will read the value from hardware, and update the software&#39;s cur...
Definition: DummyActJoint.cpp:22

DummyActJoint::setPosition
setMovementReturnCode_t setPosition(double desQ)
Set the Position object.
Definition: DummyActJoint.cpp:29