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act_schilling::ActHandler Class Reference
Inheritance diagram for act_schilling::ActHandler:
act_schilling::Driver

Public Member Functions

virtual void initDevice ()
 
virtual void requestStatus ()
 
virtual bool isIdle ()
 
ActData getData () const
 
ActDeviceStatus getDeviceStatus () const
 
ActState getState () const
 
void setPos (int count, float velCoeff=1)
 
void setAnglePos (double ang, double velCoeff=1)
 
void setVelocity (double vel)
 
void calibrate ()
 
void setControlMode (act_schilling::ControlMode const mode)
 
void requestPosition ()
 
void requestDriveStatus ()
 
void requestActInfo ()
 
ActPosition getPosition ()
 
ActDriveStatus getDriveStatus ()
 
ActInfo getActInfo ()
 
ActBoundaries getBoundaries ()
 
bool hasStatusUpdate ()
 
bool hasPosUpdate ()
 
bool hasDriveStatusUpdate ()
 
bool hasActInfoUpdate ()
 
void setResetState ()
 
void clearError ()
 

Member Function Documentation

void ActHandler::calibrate ( )

start calibration process, if calibration is completed calibration flag of ActState given by getState is set during calibration process calling this method has no effect

void ActHandler::clearError ( )

call this to try to clear device error

ActInfo ActHandler::getActInfo ( )

get Actuator Info as defined by Schilling Actuator Command List, usually not needed for operational mode data is valid if requestActInfo has been called and hasActInfoUpdate returned true

ActBoundaries ActHandler::getBoundaries ( )

get boundaries, i.e. min and max angles defined by the mechanical assembly of the actuator

act_schilling::ActData ActHandler::getData ( ) const

get Actuator Data use this to get the control mode, position and velocity, call it in cycles with requestStatus

ActDeviceStatus ActHandler::getDeviceStatus ( ) const

get Actuator Device Status use this to get the status bytes and the position in encodeer counts, call it in cycles with requestStatus

ActDriveStatus ActHandler::getDriveStatus ( )

get Drive Status as defined by Schilling Actuator Command List, usually not needed for operational mode data is valid if requestDriveStatus has been called and hasDriveStateUpdate returned true

ActPosition ActHandler::getPosition ( )

get Position as defined by Schilling Actuator Command List, usually not needed for operational mode data is valid if requestPosition has been called and hasPosUpdate returned true

act_schilling::ActState ActHandler::getState ( ) const

get the Driver and Actuator State only if both flags are set, it is safe to move the actuator, call initDevice and calibrate to get the actuator in the right state to run it (calibration takes some time)

bool ActHandler::hasActInfoUpdate ( )

call this after actuator info has been requested by requestActInfo

Returns
returns true if actuator info available with getActInfo has been updated
bool ActHandler::hasDriveStatusUpdate ( )

call this after status has been requested by requestDriveStatus

Returns
returns true if position available with getDriveStatus has been updated
bool ActHandler::hasPosUpdate ( )

call this after status has been requested by requestPosition

Returns
returns true if position available with getPosition has been updated
bool ActHandler::hasStatusUpdate ( )

call this after status has been requested by requestStatus

Returns
returns true if status available with getData and getDeviceStatus has been updated
void ActHandler::initDevice ( )
virtual

initializes the device, call this first to start communication with the actuator

bool ActHandler::isIdle ( )
virtual

checks if messages to the device are in the queue

Returns
true: device message queue is empty
void ActHandler::requestActInfo ( )

request Actuator Info as defined by Schilling Actuator Command List, usually not needed for operational mode call hasActInfoUpdate to see if response has been processed and getActInfo to receive data

void ActHandler::requestDriveStatus ( )

request Drive Status as defined by Schilling Actuator Command List, usually not needed for operational mode call hasDriveStateUpdate to see if response has been processed and getDriveStatus to receive data

void ActHandler::requestPosition ( )

request Position as defined by Schilling Actuator Command List, usually not needed for operational mode call hasPosUpdate to see if response has been processed and getPosition to receive data

void ActHandler::requestStatus ( )
virtual

request the device status, call this periodically, check response update with hasStatusUpdate and read requested data with getData and getDeviceStatus

void ActHandler::setAnglePos ( double  ang,
double  velCoeff = 1 
)

set actuator position in angle, only comes into effect when actuator is in position mode

  • count: signed angle
  • velCoeff: coefficient to adjust velocity preset by config
void ActHandler::setControlMode ( act_schilling::ControlMode const  mode)

set the Control Mode to position, velocity or none (actuator is disabled) during calibration process calling this method has no effect

  • mode: control mode
void ActHandler::setPos ( int  count,
float  velCoeff = 1 
)

set actuator position in encoder counts, only comes into effect when actuator is in position mode

  • count: signed encoder count
  • velCoeff: coefficient to adjust velocity preset by config
void ActHandler::setResetState ( )

call this to switch driver software into reset state, e.g. after a communication loss or power reset of the device

void ActHandler::setVelocity ( double  vel)

set actuator velocity, if actuator is in velocity mode, actuator starts moving with specified velocity if actuator is in position mode call comes only into effect if actuator is moving

  • vel: velocity from 0 to 960000 RPM
  • velCoeff: coefficient to adjust velocity preset by config
The documentation for this class was generated from the following files:
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