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 |
BHandSupervisoryResult * | GetResult () |
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 | |
BHand * | m_bhand |
BHandSupervisoryRealtime * | m_moduleSuperReal |
BHCommunication | m_Comm |
bool | m_open |
BHandSupervisoryCommand * | m_activeSupervisoryCommand |
BHandSupervisoryResult * | m_supervisoryCommandResult |
Definition at line 57 of file BHandDriver.h.