#include <osaPuck.h>

Inheritance diagram for osaPuck:

Public Types
enum	ID { PUCK_ID1 =1, PUCK_ID2 =2, PUCK_ID3 =3, PUCK_ID4 =4, PUCK_ID5 =5, PUCK_ID6 =6, PUCK_ID7 =7, SAFETY_MODULE_ID =10, PUCK_IDF1 =11, PUCK_IDF2 =12, PUCK_IDF3 =13, PUCK_IDF4 =14 }
	Define the ID of a puck. More...

enum	Errno { ESUCCESS, EFAILURE }
	Error values. More...

Public Member Functions
	osaPuck ()
	Default constructor. More...

	osaPuck (osaPuck::ID id, osaCANBus *can, bool createfilter=true)
	Create a puck with an ID and a CAN device. More...

osaPuck::ID	GetID () const
	Return the puck ID. More...

Barrett::Value	GroupIndex () const
	Return the index of the puck within its group. More...

Barrett::Value	IpNm () const
	Return the motor Amp/Nm constant. More...

Barrett::Value	CountsPerRevolution () const
	Return the encoder counts/revolution constant. More...

osaPuck::Errno	InitializeMotor ()
	Perform the initial configuration. More...

osaPuck::Errno	InitializeSM ()
	Perform the initial configuration. More...

osaPuck::Errno	SetMode (Barrett::Value mode)

osaPuck::Errno	GetMode (Barrett::Value &mode)

osaPuck::Errno	GetGroupA ()

osaPuck::Errno	GetGroupB ()

osaPuck::Errno	GetGroupC ()

osaPuck::Errno	SetGroupA (Barrett::Value A)

osaPuck::Errno	SetGroupB (Barrett::Value B)

osaPuck::Errno	SetGroupC (Barrett::Value C)

osaPuck::Errno	GetStatus (Barrett::Value &status)

osaPuck::Errno	GetCountsPerRev ()

osaPuck::Errno	GetIpNm ()

osaPuck::Errno	GetGroupIndex ()

osaPuck::Errno	GetMembership ()

osaPuck::Errno	IgnoreFault (Barrett::Value fault)

osaPuck::Errno	SetVelocityWarning (Barrett::Value vw)

osaPuck::Errno	SetVelocityFault (Barrett::Value vf)

osaPuck::Errno	SetTorqueWarning (Barrett::Value tw)

osaPuck::Errno	SetTorqueFault (Barrett::Value tf)

osaPuck::Errno	GetProperty (Barrett::ID id, Barrett::Value &value)
	Query the puck for a property ID. More...

osaPuck::Errno	SetProperty (Barrett::ID propid, Barrett::Value propval, bool verify)
	Set the puck property ID to a value. More...

osaPuck::Errno	Reset ()
	Reset the firmware. More...

osaPuck::Errno	Ready ()
	Set the status to ready. More...

osaPuck::Errno	SetPosition (double q)

osaPuck::Errno	GetPosition (Barrett::Value &position)

osaPuck::Errno	UnpackCANFrame (const osaCANBusFrame &canframe, Barrett::ID &id, Barrett::Value &value)
	unpack a CAN frame More...

Static Public Member Functions
static osaPuck::ID	OriginID (osaCANBusFrame::ID id)
	Return the origin ID of the CAN id. More...

static osaPuck::ID	OriginID (const osaCANBusFrame &canframe)
	Return the origin ID of the CAN frame. More...

static osaPuck::ID	DestinationID (osaCANBusFrame::ID id)
	Return the destination ID of the CAN id. More...

static osaPuck::ID	DestinationID (const osaCANBusFrame &canframe)
	Return the destination ID of the CAN frame. More...

Static Public Attributes
static const Barrett::Value	STATUS_RESET = 0
	Define the modes of a puck. More...

static const Barrett::Value	STATUS_READY = 2

static const Barrett::Value	MODE_IDLE = 0
	Define the status of a puck. More...

static const Barrett::Value	MODE_TORQUE = 2

static const Barrett::Value	MODE_POSITION = 3

static const Barrett::Value	MODE_PID = 3

static const Barrett::Value	MODE_VELOCITY = 4

static const Barrett::Value	MODE_TRAPEZOIDAL = 5

Detailed Description

Implements a Barrett puck.

Pucks are the small gizmos that are connected to each motor. They essentially have all the hardware to control motors (micro-controller, amplifier, encoder and CAN device). Pucks are used to query encoders positions and set motors currents. A puck also has several "properties" (see the Barrett documentation) to determine their behavior. Each puck is accesses on the CAN bus by its node ID but several pucks can be addressed by group (

See Also: devGroup).

Member Enumeration Documentation

enum osaPuck::Errno

Error values.

Enumerator
ESUCCESS
EFAILURE

enum osaPuck::ID

Define the ID of a puck.

The ID of a puck is at most 5 bits. Hence we use 8 bits of which only the 5 LSB are used.

Enumerator
PUCK_ID1
PUCK_ID2
PUCK_ID3
PUCK_ID4
PUCK_ID5
PUCK_ID6
PUCK_ID7
SAFETY_MODULE_ID
PUCK_IDF1
PUCK_IDF2
PUCK_IDF3
PUCK_IDF4

Constructor & Destructor Documentation

osaPuck::osaPuck ( )

Default constructor.

osaPuck::osaPuck	(	osaPuck::ID	id,
		osaCANBus *	can,
		bool	createfilter = `true`
	)

Create a puck with an ID and a CAN device.

Initialize the puck to the given ID and give the CAN device connected to the puck.

Parameters

puckid	The ID of the puck
can	The CAN device used to communicate with the puck

Member Function Documentation

Barrett::Value osaPuck::CountsPerRevolution ( ) const

Return the encoder counts/revolution constant.

static osaPuck::ID osaPuck::DestinationID ( osaCANBusFrame::ID id )

static

Return the destination ID of the CAN id.

Each CAN ID consists of 11 bits. For communicating with pucks, this ID is composed of 5 bits representing the ID of the puck at the origin of the CAN frame and 5 bits representing the ID of the destination puck. Call this method to obtain the destination puck ID in a CAN ID.

Parameters

canid The CAN id

Returns: The origin puck ID of the CAN ID

See Also: Origin( osaCANBusFrame )

static osaPuck::ID osaPuck::DestinationID ( const osaCANBusFrame & canframe )

static

Return the destination ID of the CAN frame.

Each CAN frame contains an 11 bits ID. For communicating with pucks, this ID is composed of 5 bits representing the ID of the puck at the origin of the CAN frame and 5 bits representing the ID of the destination puck. Call this method to obtain the destination puck ID in a CAN frame.

Parameters

canid The CAN frame

Returns: The origin puck ID of the CAN frame

See Also: Destination( osaCANBusID )

osaPuck::Errno osaPuck::GetCountsPerRev ( )

osaPuck::Errno osaPuck::GetGroupA ( )

osaPuck::Errno osaPuck::GetGroupB ( )

osaPuck::Errno osaPuck::GetGroupC ( )

osaPuck::Errno osaPuck::GetGroupIndex ( )

osaPuck::ID osaPuck::GetID ( ) const

Return the puck ID.

osaPuck::Errno osaPuck::GetIpNm ( )

osaPuck::Errno osaPuck::GetMembership ( )

osaPuck::Errno osaPuck::GetMode ( Barrett::Value & mode )

osaPuck::Errno osaPuck::GetPosition ( Barrett::Value & position )

osaPuck::Errno osaPuck::GetProperty	(	Barrett::ID	id,
		Barrett::Value &	value
	)

Query the puck for a property ID.

This method queries the puck for the value of a property.

Parameters

propid The ID of the property to query

Returns: The value of the property

osaPuck::Errno osaPuck::GetStatus ( Barrett::Value & status )

Barrett::Value osaPuck::GroupIndex ( ) const

Return the index of the puck within its group.

Each puck on the WAM belongs to a group. The upper arm group contains represents 4 pucks and the forearm group represents 3 pucks. Since these groups are ordered, the index (0, 1, 2, 3) of a puck within its group matters. Call this method if you want to find the (zero) index of the pucks within its group.

Returns: The zero index of the puck within its group

osaPuck::Errno osaPuck::IgnoreFault ( Barrett::Value fault )

osaPuck::Errno osaPuck::InitializeMotor ( )

Perform the initial configuration.

This sets the puck in the "ready" status and in "idle" mode. It also queries the puck for its group index, I/Nm constant and counts/rev constant.

Parameters

false if no error occurred. true otherwise

osaPuck::Errno osaPuck::InitializeSM ( )

Perform the initial configuration.

This sets the safety module

Parameters

false if no error occurred. true otherwise

Barrett::Value osaPuck::IpNm ( ) const

Return the motor Amp/Nm constant.

static osaPuck::ID osaPuck::OriginID ( osaCANBusFrame::ID id )

static

Return the origin ID of the CAN id.

Each CAN ID consists of 11 bits. For communicating with pucks, this ID is composed of 5 bits representing the ID of the puck at the origin of the CAN frame and 5 bits representing the ID of the destination puck. Call this method to obtain the origin puck ID in a CAN ID.

Parameters

canid The CAN id

Returns: The origin puck ID of the CAN ID

See Also: Origin( osaCANBusFrame )

static osaPuck::ID osaPuck::OriginID ( const osaCANBusFrame & canframe )

static

Return the origin ID of the CAN frame.

Each CAN frame contains an 11 bits ID. For communicating with pucks, this ID is composed of 5 bits representing the ID of the puck at the origin of the CAN frame and 5 bits representing the ID of the destination puck. Call this method to obtain the origin puck ID in a CAN frame.

Parameters

canid The CAN frame

Returns: The origin puck ID of the CAN frame

See Also: Origin( osaCANBusID )

osaPuck::Errno osaPuck::Ready ( )

Set the status to ready.

osaPuck::Errno osaPuck::Reset ( )

Reset the firmware.

osaPuck::Errno osaPuck::SetGroupA ( Barrett::Value A )

osaPuck::Errno osaPuck::SetGroupB ( Barrett::Value B )

osaPuck::Errno osaPuck::SetGroupC ( Barrett::Value C )

osaPuck::Errno osaPuck::SetMode ( Barrett::Value mode )

osaPuck::Errno osaPuck::SetPosition ( double q )

osaPuck::Errno osaPuck::SetProperty	(	Barrett::ID	propid,
		Barrett::Value	propval,
		bool	verify
	)

Set the puck property ID to a value.

This method sets the value of the puck's property.

Parameters

propid	The ID of the property to set
propval	The value of the property
verify	Double check by querying the property of the puck

Returns: false is no error occurred. true otherwise

osaPuck::Errno osaPuck::SetTorqueFault ( Barrett::Value tf )

osaPuck::Errno osaPuck::SetTorqueWarning ( Barrett::Value tw )

osaPuck::Errno osaPuck::SetVelocityFault ( Barrett::Value vf )

osaPuck::Errno osaPuck::SetVelocityWarning ( Barrett::Value vw )

osaPuck::Errno osaPuck::UnpackCANFrame	(	const osaCANBusFrame &	canframe,
		Barrett::ID &	id,
		Barrett::Value &	value
	)

unpack a CAN frame

Extract the property ID and a property value of a CAN frame.

Parameters

canframe[in]	The CAN frame to process
propid[out]	The ID of the property in the data
propval[out]	The value of the property in the data

Member Data Documentation

const Barrett::Value osaPuck::MODE_IDLE = 0

static

Define the status of a puck.

Pucks defines the following status for a puck

const Barrett::Value osaPuck::MODE_PID = 3

static

const Barrett::Value osaPuck::MODE_POSITION = 3

static

const Barrett::Value osaPuck::MODE_TORQUE = 2

static

const Barrett::Value osaPuck::MODE_TRAPEZOIDAL = 5

static

const Barrett::Value osaPuck::MODE_VELOCITY = 4

static

const Barrett::Value osaPuck::STATUS_READY = 2

static

const Barrett::Value osaPuck::STATUS_RESET = 0

static

Define the modes of a puck.

Pucks defines the following mode in which a puck can be

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

/home/adeguet1/catkin_ws/src/cisst-saw/sawBarrett/include/sawBarrett/osaPuck.h

Public Types

Public Member Functions

Static Public Member Functions

Static Public Attributes

Detailed Description

Member Enumeration Documentation

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation