On Wednesday 06 February 2008 16:22:24 Chandler wrote:
> Hello,
>
> I am getting myself familiar to OROCOS.
> I am trying one example whereby I am wanting to interface a motor to get
> encoder counts.
>
> I looked at the classes provided in Encoder and saw EncoderInterface and
> FakeEncoder. What I saw in them was just a declaration of a method that one
> should implement in their own functionality instead of the method logic
> implementation.

Which hardware do you have to read the encoders ? If you have a National
Instruments card, you can use the Comedi classes of OCL, which implement the
EncoderInterface.

There is an implementation using AddiData cards as well in OCL, but rumour has
it that it does not work with recent 2.6 kernels.

>
> This leaves me in dilemna as I thought there would actually be a method
> implementation containing the appropiate logic that gets these encoder
> count values.
>
> How can I go about doing this in OROCOS ? Would I have to provide my own
> implementation logic of getting the encoder count values ? (I am guessing
> would have to be done using Digital/Analog In/Out which would actually
> contain method implementation of the appropiate logic writing the data bits
> to the ports ?

You need a 'counter card' from AddiData or National Instruments. The Analog or
Digital IO is taken care of by National Instruments cards using Comedi as
well.

Peter

On 6 Feb 2008 15:22:24 -0000, Chandler <vikrambindal [..] ...> wrote:
> I am getting myself familiar to OROCOS.
> I am trying one example whereby I am wanting to interface a motor to get encoder counts.
>
> I looked at the classes provided in Encoder and saw EncoderInterface and FakeEncoder. What I saw in them was just a declaration of a method that one should implement in their own functionality instead of the method logic implementation.
>
> This leaves me in dilemna as I thought there would actually be a method implementation containing the appropiate logic that gets these encoder count values.

The methods depend on particular hardware drivers of encoder boards.
You can find examples in the Orocos Component library (OCL), see e.g.

> How can I go about doing this in OROCOS ? Would I have to provide my own implementation logic of getting the encoder count values ? (I am guessing would have to be done using Digital/Analog In/Out which would actually contain method implementation of the appropiate logic writing the data bits to the ports ?

I don't understand this question.

Klaas