Inheritance diagram for barrett::MotorPuck:

Classes
struct	CombinedPositionParser
struct	MotorPositionParser
struct	SecondaryPositionParser
Public Types
enum	MotorMode { MODE_IDLE, MODE_DUTY, MODE_TORQUE, MODE_PID, MODE_VELOCITY, MODE_TRAPEZOIDAL }
Public Member Functions
	MotorPuck (Puck *puck=NULL)
void	setPuck (Puck *puck)
int	getCts () const
double	getRadsPerCount () const
double	getCountsPerRad () const
double	counts2rad (int counts) const
int	rad2counts (double rad) const
int	getIpnm () const
int	nm2i (double torque) const
bool	foundIndexPulse () const
Static Public Member Functions
static void	sendPackedTorques (const bus::CommunicationsBus &bus, int groupId, int propId, const double *pt, int numTorques)
Static Public Attributes
static const size_t	PUCKS_PER_TORQUE_GROUP = 4
static const int	MAX_PUCK_TORQUE = 8191
Protected Attributes
int	cts
double	rpc
double	cpr
int	ipnm

Member Function Documentation

void barrett::MotorPuck::setPuck ( Puck * puck )

setPuck Method used to define what type of puck is being used

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

Classes