BHandSerialDriver Class Reference

Inherits BHandDriver.

Public Member Functions

 BHandSerialDriver (BHand *bhand, BHandSupervisoryRealtime *moduleSuperReal, unsigned int comport)
int Initialize ()
void Close ()
void SetWaitCallbackFunc (BHCallback waitCallbackFunc)
int ComInitialize (int comport)
int ComOpen (int comport, int baudrate=9600)
bool ComIsOpen ()
void ComClose ()
int ComSetBaudrate (int baud)
int ComSetTimeouts (unsigned int readMultiplier, unsigned int readConstant, unsigned int writeMultiplier, unsigned int writeConstant)
bool ComClear (bool rxOnly=false)
int ComRead (char *rxBuf, int rxNumBytes)
int ComWrite (const char *txBuf, int txNumBytes)
const char * Response ()
const char * Buffer ()
int RTStart (const char *motor, BHMotorProtection motorProtection=BHMotorTSTOPProtect)
int RTUpdate (bool control=true, bool feedback=true)
int RTAbort ()
int RTSetFlags (const char *motor, bool LCV, int LCVC, bool LCPG, bool LFV, int LFVC, bool LFS, bool LFAP, bool LFDP, int LFDPC)
int RTSetFlags (const char *motor, bool LCV, int LCVC, bool LCPG, bool LCT, bool LFV, int LFVC, bool LFS, bool LFAP, bool LFDP, int LFDPC, bool LFBP, bool LFAIN, bool LFDPD, bool LFT)
int RTUpdate (const char *motor, const char *property, int *values)
int RTSetVelocity (const char motor, int velocity)
int RTSetGain (const char motor, int gain)
int RTSetTorque (const char motor, int torque)
int RTSetPosition (const char motor, int position)
char RTGetVelocity (const char motor)
unsigned char RTGetStrain (const char motor)
int RTGetPosition (const char motor)
char RTGetDeltaPos (const char motor)
int RTGetBreakawayPosition (const char motor)
int RTGetTemp ()
unsigned char RTGetAIN (const char motor)
void RTGetPPS (const char motor, int *pps, int ppsElements)

Static Public Member Functions

static void SetDefaultBaud (unsigned int baud)

Detailed Description

Definition at line 17 of file BHandSerialDriver.h.


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