BHandDriver Class Reference

Inherited by BHandCANDriver, and BHandSerialDriver.

Public Member Functions

 BHandDriver (BHand *bhand, BHandSupervisoryRealtime *moduleSuperReal, BHCommunication comm)
BHCommunication getComm ()
void setActiveSupervisoryCommand (BHandSupervisoryCommand *activeSupervisoryCommand)
virtual int Initialize ()=0
virtual void Close ()=0
bool IsOpen ()
int ExecuteSupervisoryCall ()
virtual int ExecuteRealtimeCall ()=0
virtual void SetWaitCallbackFunc (BHCallback waitCallbackFunc)=0
BHandSupervisoryResultGetResult ()
int InitHand (const char *motor)
int Reset (bool *responseReceived=0)
int Close (const char *motor)
int Open (const char *motor)
int GoToDefault (const char *motor)
int GoToDifferentPositions (const int *encoderPositons, unsigned int numEncoderPositions)
int GoToHome (const char *motor="")
int GoToPosition (const char *motor, int value)
int StepClose (const char *motor, bool valueIncluded=false, int stepAmount=0)
int StepOpen (const char *motor, bool valueIncluded=false, int stepAmount=0)
int StopMotor (const char *motor)
int TorqueClose (const char *motor)
int TorqueOpen (const char *motor)
int Get (const char *motor, const char *parameter, int *result)
int Set (const char *motor, const char *parameter, int value)
int PGet (const char *parameter, int *result)
int PSet (const char *parameter, int value)
int Default (const char *motor)
int Load (const char *motor)
int Save (const char *motor)
int Temperature (int *temperature)
int Delay (unsigned int msec)
int Command (const char *send)
int Command (const char *send, char *receive)
int Baud (unsigned int baud)
virtual int RTStart (const char *motor, BHMotorProtection motorProtection=BHMotorTSTOPProtect)=0
virtual int RTUpdate (bool control=true, bool feedback=true)=0
virtual int RTAbort ()=0
virtual int RTSetFlags (const char *motor, bool LCV, int LCVC, bool LCPG, bool LFV, int LFVC, bool LFS, bool LFAP, bool LFDP, int LFDPC)=0
virtual 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)=0
virtual int RTUpdate (const char *motor, const char *property, int *values)=0
virtual int RTSetVelocity (const char motor, int velocity)=0
virtual int RTSetGain (const char motor, int gain)=0
virtual int RTSetTorque (const char motor, int torque)=0
virtual int RTSetPosition (const char motor, int position)=0
virtual char RTGetVelocity (const char motor)=0
virtual unsigned char RTGetStrain (const char motor)=0
virtual int RTGetPosition (const char motor)=0
virtual char RTGetDeltaPos (const char motor)=0
virtual int RTGetBreakawayPosition (const char motor)=0
virtual int RTGetTemp ()=0
virtual unsigned char RTGetAIN (const char motor)=0
virtual void RTGetPPS (const char motor, int *pps, int ppsElements)=0

Protected Member Functions

virtual int HandInit (BHMotors bhMotors)=0
virtual int HandReset (BHMotors bhMotors, bool *responseReceived)=0
virtual int HandClose (BHMotors bhMotors)=0
virtual int HandOpen (BHMotors bhMotors)=0
virtual int HandGoToDefault (BHMotors bhMotors, bool valueIncluded=false, int defaultPosition=0)=0
virtual int HandGoToDifferentPositionsHand (const int *encoderPositions, unsigned int numEncoderPositions)=0
virtual int HandGoToHome (BHMotors bhMotors)=0
virtual int HandGoToPosition (BHMotors bhMotors, unsigned int encoderPositionTickCount)=0
virtual int HandStepClose (BHMotors bhMotors, bool valueIncluded=false, int stepAmount=0)=0
virtual int HandStepOpen (BHMotors bhMotors, bool valueIncluded=false, int stepAmount=0)=0
virtual int HandTorqueClose (BHMotors bhMotors)=0
virtual int HandTorqueOpen (BHMotors bhMotors)=0
virtual int HandGet (BHMotors bhMotors, const char *property, int *propertyResult, int *nresults=0)=0
virtual int HandSet (BHMotors bhMotors, const char *property, int value)=0
virtual int HandPGet (const char *property, int *propertyResult)=0
virtual int HandPSet (const char *property, int value)=0
virtual int HandDefault (BHMotors bhMotors)=0
virtual int HandLoad (BHMotors bhMotors)=0
virtual int HandSave (BHMotors bhMotors)=0
virtual int HandTemperature (BHMotors bhMotors, int *temperature, unsigned int numTemperatures)=0
virtual int HandDelay (unsigned int milliSeconds)=0
virtual int HandStopMotor (BHMotors bhMotors)=0
virtual char * HandCommand (const char *send, int *errorCode)=0
virtual int HandBaud (unsigned int newBaud)=0
virtual int HandleSupervisoryCall ()=0
int runSupervisoryCommand (BHandSupervisoryCommand *command)

Protected Attributes

BHandm_bhand
BHandSupervisoryRealtimem_moduleSuperReal
BHCommunication m_Comm
bool m_open
BHandSupervisoryCommandm_activeSupervisoryCommand
BHandSupervisoryResultm_supervisoryCommandResult

Detailed Description

Definition at line 57 of file BHandDriver.h.


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