A Drive Object controls a single axis. More...

#include <rtt/extras/dev/DriveInterface.hpp>

Public Member Functions
virtual	~DriveInterface ()

virtual bool	enableDrive ()=0
	Enable the drive. More...

virtual bool	disableDrive ()=0
	Disable the drive. More...

virtual bool	isEnabled () const =0
	Query if the drive is enabled or not. More...

virtual DigitalOutput *	getEnable ()=0
	Get the enable signal of the drive as a DigitalOutput. More...

virtual void	addOffset (double addoffset)=0
	Add an offset to the current drive value. More...

virtual double	getOffset ()=0
	Get the current offset. More...

virtual bool	driveSet (double v)=0
	Sets a new velocity. More...

virtual double	driveGet () const =0
	Returns the current drive velocity. More...

virtual double	maxDriveGet () const =0
	Returns the maximum drive velocity without limitations. More...

virtual double	minDriveGet () const =0
	Returns the minimum drive velocity without limitations. More...

virtual void	limit (double lower, double higher, const internal::Signal< void(std::string)> &ev)=0
	Limit the velocity of the drive. More...

Detailed Description

A Drive Object controls a single axis.

It is responsible for keeping track of its status (enabled, disabled).

Definition at line 56 of file DriveInterface.hpp.

Constructor & Destructor Documentation

virtual RTT::dev::DriveInterface::~DriveInterface ( )

inlinevirtual

Definition at line 59 of file DriveInterface.hpp.

Member Function Documentation

virtual void RTT::dev::DriveInterface::addOffset ( double addoffset )

pure virtual

Add an offset to the current drive value.

Use this value to compensate for drift when the drive is enabled.

virtual bool RTT::dev::DriveInterface::disableDrive ( )

pure virtual

Disable the drive.

virtual double RTT::dev::DriveInterface::driveGet ( ) const

pure virtual

Returns the current drive velocity.

virtual bool RTT::dev::DriveInterface::driveSet ( double v )

pure virtual

Sets a new velocity.

Parameters

v	The velocity

Returns: false if not enabled.

virtual bool RTT::dev::DriveInterface::enableDrive ( )

pure virtual

Enable the drive.

virtual DigitalOutput* RTT::dev::DriveInterface::getEnable ( )

pure virtual

Get the enable signal of the drive as a DigitalOutput.

virtual double RTT::dev::DriveInterface::getOffset ( )

pure virtual

Get the current offset.

virtual bool RTT::dev::DriveInterface::isEnabled ( ) const

pure virtual

Query if the drive is enabled or not.

virtual void RTT::dev::DriveInterface::limit	(	double	lower,
		double	higher,
		const internal::Signal< void(std::string)> &	ev
	)

pure virtual

Limit the velocity of the drive.

virtual double RTT::dev::DriveInterface::maxDriveGet ( ) const

pure virtual

Returns the maximum drive velocity without limitations.

virtual double RTT::dev::DriveInterface::minDriveGet ( ) const

pure virtual

Returns the minimum drive velocity without limitations.

The documentation for this class was generated from the following file:

rtt/extras/dev/DriveInterface.hpp

Public Member Functions

Detailed Description

Constructor & Destructor Documentation

Member Function Documentation