Implementation for the Lacquey Fetch hand custom UC3M circuit as a single CAN bus joint (control board raw interfaces).
#include <LacqueyFetch.hpp>
Inheritance diagram for roboticslab::LacqueyFetch:
Public Member Functions | |
| bool | open (yarp::os::Searchable &config) override |
| bool | close () override |
| unsigned int | getId () override |
| Retrieve CAN node ID. | |
| bool | notifyMessage (const can_message &message) override |
| Notify observers that a new CAN message has arrived. | |
| bool | initialize () override |
| Perform CAN node initialization. | |
| bool | finalize () override |
| Finalize CAN node communications. | |
| bool | registerSender (ICanSenderDelegate *sender) override |
| Pass a handle to a CAN sender delegate instance. | |
| bool | synchronize (double timestamp) override |
| Perform synchronized action on CAN master's request. | |
| bool | getAxes (int *ax) override |
| bool | getAxisNameRaw (int j, std::string &name) override |
| bool | getJointTypeRaw (int j, yarp::dev::JointTypeEnum &type) override |
| bool | getControlModeRaw (int j, int *mode) override |
| bool | getControlModesRaw (int *modes) override |
| bool | getControlModesRaw (int n_joint, const int *joints, int *modes) override |
| bool | setControlModeRaw (int j, int mode) override |
| bool | setControlModesRaw (int *modes) override |
| bool | setControlModesRaw (int n_joint, const int *joints, int *modes) override |
| bool | getNumberOfMotorsRaw (int *number) override |
| bool | setRefDutyCycleRaw (int m, double ref) override |
| bool | setRefDutyCyclesRaw (const double *refs) override |
| bool | getRefDutyCycleRaw (int m, double *ref) override |
| bool | getRefDutyCyclesRaw (double *refs) override |
| bool | getDutyCycleRaw (int m, double *val) override |
| bool | getDutyCyclesRaw (double *vals) override |
 Public Member Functions inherited from roboticslab::ICanBusSharer | |
| virtual | ~ICanBusSharer ()=default |
| Destructor. | |
| virtual std::vector< unsigned int > | getAdditionalIds () |
| Retrieve more associated CAN node IDs, if any. | |
| Public Member Functions inherited from roboticslab::ICanMessageNotifier | |
| virtual | ~ICanMessageNotifier ()=default |
| Virtual destructor. | |
Private Member Functions | |
| bool | send (unsigned int len, const std::uint8_t *msgData) |
Private Attributes | |
| unsigned int | canId {0} |
| std::string | axisName |
| yarp::conf::float32_t | refDutyCycles {0} |
| ICanSenderDelegate * | sender {nullptr} |
Static Private Attributes | |
| static constexpr unsigned int | CAN_OP = 0x780 |
The documentation for this class was generated from the following files:
- libraries/YarpPlugins/LacqueyFetch/LacqueyFetch.hpp
- libraries/YarpPlugins/LacqueyFetch/DeviceDriverImpl.cpp
- libraries/YarpPlugins/LacqueyFetch/IAxisInfoRawImpl.cpp
- libraries/YarpPlugins/LacqueyFetch/ICanBusSharerImpl.cpp
- libraries/YarpPlugins/LacqueyFetch/IControlModeRawImpl.cpp
- libraries/YarpPlugins/LacqueyFetch/IPWMControlRawImpl.cpp
