This class implements a TaskContext to use with the Kuka160 robot in the RoboticLab, PMA, dept. More...
#include <Kuka160nAxesVelocityController.hpp>
Public Member Functions | |
| Kuka160nAxesVelocityController (std::string name) | |
| The contructor of the class. | |
| virtual bool | configureHook () |
| virtual bool | startHook () |
| virtual void | updateHook () |
| virtual void | stopHook () |
| virtual void | cleanupHook () |
Public Attributes | |
| std::vector< OCL::AxisInterface * > | axes |
|
std::vector < OCL::SimulationAxis * > | axes_simulation |
Protected Attributes | |
|
RTT::ReadDataPort< std::vector < double > > | driveValues_port |
| vector of ReadDataPorts which contain the output velocities of the axes. | |
| RTT::DataPort< std::vector < bool > > | referenceValues_port |
| vector of WriteDataPorts which contain the values of the reference switch. | |
| RTT::DataPort< std::vector < double > > | positionValues_port |
| vector of DataPorts which contain the values of the position sensors. | |
| Property< std::vector< double > > | driveLimits_prop |
| The absolute value of the velocity will be limited to this property. | |
| Property< std::vector< double > > | lowerPositionLimits_prop |
| Lower limit for the positions. | |
| Property< std::vector< double > > | upperPositionLimits_prop |
| upper limit for the positions. | |
| Property< std::vector< double > > | initialPosition_prop |
| Start position in rad for simulation. | |
| Property< std::vector< double > > | driveOffset_prop |
| Offset to the drive value volt = (setpoint + offset)/scale. | |
| Property< bool > | simulation_prop |
| True if simulationAxes should be used in stead of hardware axes. | |
| bool | simulation |
|
Property< std::vector < std::string > > | EmergencyEvents_prop |
| List of Events that should result in an emergencystop. | |
| RTT::Constant< unsigned int > | num_axes_attr |
| Constant: number of axes. | |
| Attribute< KDL::Chain > | chain_attr |
| KDL-chain for the Kuka361. | |
| KDL::Chain | kinematics |
| RTT::Event< void(std::string) > | driveOutOfRange_evt |
| parameters to this event is the message that has to be shown. | |
| RTT::Event< void(std::string) > | positionOutOfRange_evt |
| parameters to this event is the message that has to be shown. | |
This class implements a TaskContext to use with the Kuka160 robot in the RoboticLab, PMA, dept.
Mechanical Engineering, KULEUVEN. Since the hardware part is very specific for our setup, other people can only use the simulation version. But it can be a good starting point to create your own Robot Software Interface.
Definition at line 45 of file Kuka160nAxesVelocityController.hpp.
| Kuka160nAxesVelocityController | ( | std::string | name | ) |
The contructor of the class.
| name | Name of the TaskContext | |
| propertyfilename | name of the propertyfile to configure the component with, default: cpf/Kuka160nAxesVelocityController.cpf |
Creating and adding the data-ports
Adding the events :
Definition at line 52 of file Kuka160nAxesVelocityController.cpp.
References Kuka160nAxesVelocityController::chain_attr, Kuka160nAxesVelocityController::driveLimits_prop, Kuka160nAxesVelocityController::driveOffset_prop, Kuka160nAxesVelocityController::driveOutOfRange_evt, Kuka160nAxesVelocityController::driveValues_port, Kuka160nAxesVelocityController::EmergencyEvents_prop, Kuka160nAxesVelocityController::initialPosition_prop, Kuka160nAxesVelocityController::lowerPositionLimits_prop, Kuka160nAxesVelocityController::num_axes_attr, Kuka160nAxesVelocityController::positionOutOfRange_evt, Kuka160nAxesVelocityController::positionValues_port, Kuka160nAxesVelocityController::referenceValues_port, Kuka160nAxesVelocityController::simulation_prop, and Kuka160nAxesVelocityController::upperPositionLimits_prop.
Property<std::vector<double> > driveLimits_prop [protected] |
The absolute value of the velocity will be limited to this property.
Used to fire an event if necessary and to saturate the velocities. It is a good idea to set this property to a low value when using experimental code.
Definition at line 88 of file Kuka160nAxesVelocityController.hpp.
Referenced by Kuka160nAxesVelocityController::Kuka160nAxesVelocityController().
RTT::Event< void(std::string) > driveOutOfRange_evt [protected] |
parameters to this event is the message that has to be shown.
Each axis that is out of range throws this event. The component will continue with the previous value.
Definition at line 140 of file Kuka160nAxesVelocityController.hpp.
Referenced by Kuka160nAxesVelocityController::Kuka160nAxesVelocityController().
Property<std::vector <double> > initialPosition_prop [protected] |
Start position in rad for simulation.
If the encoders are relative ( like for this component ) also the starting value for the relative encoders.
Definition at line 104 of file Kuka160nAxesVelocityController.hpp.
Referenced by Kuka160nAxesVelocityController::Kuka160nAxesVelocityController().
Property<std::vector<double> > lowerPositionLimits_prop [protected] |
Lower limit for the positions.
Used to fire an event if necessary.
Definition at line 93 of file Kuka160nAxesVelocityController.hpp.
Referenced by Kuka160nAxesVelocityController::Kuka160nAxesVelocityController().
RTT::Event< void(std::string) > positionOutOfRange_evt [protected] |
parameters to this event is the message that has to be shown.
Each axis that is out of range throws this event. The component will continue. The hardware limit switches can be reached when this event is not handled.
Definition at line 148 of file Kuka160nAxesVelocityController.hpp.
Referenced by Kuka160nAxesVelocityController::Kuka160nAxesVelocityController().
RTT::DataPort<std::vector<double> > positionValues_port [protected] |
vector of DataPorts which contain the values of the position sensors.
It is used by other components who need this value for control ;)
Definition at line 80 of file Kuka160nAxesVelocityController.hpp.
Referenced by Kuka160nAxesVelocityController::Kuka160nAxesVelocityController().
RTT::DataPort<std::vector<bool> > referenceValues_port [protected] |
vector of WriteDataPorts which contain the values of the reference switch.
It can be used for the homing of the robot.
Definition at line 73 of file Kuka160nAxesVelocityController.hpp.
Referenced by Kuka160nAxesVelocityController::Kuka160nAxesVelocityController().
Property<std::vector<double> > upperPositionLimits_prop [protected] |
upper limit for the positions.
Used to fire an event if necessary.
Definition at line 98 of file Kuka160nAxesVelocityController.hpp.
Referenced by Kuka160nAxesVelocityController::Kuka160nAxesVelocityController().
1.6.3