BHandCANDriver Class Reference

Inherits BHandDriver.

Public Member Functions

 BHandCANDriver (BHand *bhand, BHandSupervisoryRealtime *moduleSuperReal)
void SetWaitCallbackFunc (BHCallback waitCallbackFunc)
int Initialize ()
void Close ()
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)

Detailed Description

Definition at line 15 of file BHandCANDriver.h.


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