This class implements a TaskContext to use with the Kuka361 robot in the RoboticLab, PMA, dept. More...
#include <Kuka361nAxesTorqueController.hpp>
Public Member Functions | |
| Kuka361nAxesTorqueController (std::string name) | |
| The contructor of the class. | |
| virtual bool | configureHook () |
| virtual bool | startHook () |
| This function contains the application's startup code. | |
| virtual void | updateHook () |
| This function is periodically called. | |
| virtual void | stopHook () |
| This function is called when the task is stopped. | |
| virtual void | cleanupHook () |
Protected Attributes | |
|
RTT::DataPort< std::vector < double > > | driveValues |
| vector of ReadDataPorts which contain the output velocities of the axes. | |
| std::vector< double > | driveValues_local |
| RTT::DataPort< std::vector < double > > | positionValues |
| vector of WriteDataPorts which contain the values of the position sensors. | |
| std::vector< double > | positionValues_local |
|
RTT::DataPort< std::vector < double > > | velocityValues |
| vector of WriteDataPorts which contain the values of the tachometer. | |
| std::vector< double > | velocityValues_local |
|
RTT::DataPort< std::vector < double > > | torqueValues |
| vector of WriteDataPorts which contain the values of the current sensors transformed to torque. | |
| std::vector< double > | torqueValues_local |
| RTT::WriteDataPort< double > | delta_time_Port |
| Port containing time since previous update (samole time). | |
| RTT::Property< std::vector < double > > | velocityLimits |
| The absolute value of the velocity will be limited to this property. | |
| RTT::Property< std::vector < double > > | currentLimits |
| The absolute value of the current will be limited to this property. | |
| RTT::Property< std::vector < double > > | lowerPositionLimits |
| Lower limit for the positions. | |
| RTT::Property< std::vector < double > > | upperPositionLimits |
| upper limit for the positions. | |
| RTT::Property< std::vector < double > > | initialPosition |
| Start position in rad for simulation. | |
|
RTT::Property< std::vector < double > > | velDriveOffset |
| Offset to the drive value volt = (setpoint + offset)/scale. | |
| RTT::Property< bool > | simulation |
| True if simulationAxes should be used in stead of hardware axes. | |
| RTT::Constant< unsigned int > | num_axes |
| Constant: number of axes. | |
| RTT::Event< void(std::string) > | velocityOutOfRange |
| parameters to this event are the axis and the velocity that is out of range. | |
| RTT::Event< void(std::string) > | currentOutOfRange |
| parameters to this event are the axis and the current that is out of range. | |
| RTT::Event< void(std::string) > | positionOutOfRange |
| parameters to this event are the axis and the position that is out of range. | |
This class implements a TaskContext to use with the Kuka361 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 57 of file Kuka361nAxesTorqueController.hpp.
| Kuka361nAxesTorqueController | ( | 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/Kuka361nAxesTorqueController.cpf |
Creating and adding the data-ports
Adding the events :
Definition at line 78 of file Kuka361nAxesTorqueController.cpp.
References Kuka361nAxesTorqueController::currentLimits, Kuka361nAxesTorqueController::currentOutOfRange, Kuka361nAxesTorqueController::delta_time_Port, Kuka361nAxesTorqueController::driveValues, Kuka361nAxesTorqueController::initialPosition, Kuka361nAxesTorqueController::lowerPositionLimits, Kuka361nAxesTorqueController::num_axes, Kuka361nAxesTorqueController::positionOutOfRange, Kuka361nAxesTorqueController::positionValues, Kuka361nAxesTorqueController::simulation, Kuka361nAxesTorqueController::torqueValues, Kuka361nAxesTorqueController::upperPositionLimits, Kuka361nAxesTorqueController::velDriveOffset, Kuka361nAxesTorqueController::velocityLimits, Kuka361nAxesTorqueController::velocityOutOfRange, and Kuka361nAxesTorqueController::velocityValues.
| bool startHook | ( | ) | [virtual] |
This function contains the application's startup code.
Return false to abort startup.
Definition at line 383 of file Kuka361nAxesTorqueController.cpp.
RTT::Property<std::vector <double> > currentLimits [protected] |
The absolute value of the current will be limited to this property.
Used to fire an event if necessary and to saturate the currents. It is a good idea to set this property to a low value when using experimental code.
Definition at line 121 of file Kuka361nAxesTorqueController.hpp.
Referenced by Kuka361nAxesTorqueController::Kuka361nAxesTorqueController().
RTT::Event< void(std::string) > currentOutOfRange [protected] |
parameters to this event are the axis and the current that is out of range.
Each axis that is out of range throws a seperate event. The component will continue with the previous value.
Definition at line 169 of file Kuka361nAxesTorqueController.hpp.
Referenced by Kuka361nAxesTorqueController::Kuka361nAxesTorqueController().
RTT::WriteDataPort< double > delta_time_Port [protected] |
Port containing time since previous update (samole time).
Definition at line 106 of file Kuka361nAxesTorqueController.hpp.
Referenced by Kuka361nAxesTorqueController::Kuka361nAxesTorqueController().
RTT::Property<std::vector <double> > initialPosition [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 138 of file Kuka361nAxesTorqueController.hpp.
Referenced by Kuka361nAxesTorqueController::Kuka361nAxesTorqueController().
RTT::Property<std::vector <double> > lowerPositionLimits [protected] |
Lower limit for the positions.
Used to fire an event if necessary.
Definition at line 127 of file Kuka361nAxesTorqueController.hpp.
Referenced by Kuka361nAxesTorqueController::Kuka361nAxesTorqueController().
RTT::Event< void(std::string) > positionOutOfRange [protected] |
parameters to this event are the axis and the position that is out of range.
Each axis that is out of range throws a seperate event. The component will continue. The hardware limit switches can be reached when this event is not handled.
Definition at line 177 of file Kuka361nAxesTorqueController.hpp.
Referenced by Kuka361nAxesTorqueController::Kuka361nAxesTorqueController().
RTT::DataPort<std::vector<double> > positionValues [protected] |
vector of WriteDataPorts which contain the values of the position sensors.
It is used by other components who need this value for control ;)
Definition at line 85 of file Kuka361nAxesTorqueController.hpp.
Referenced by Kuka361nAxesTorqueController::Kuka361nAxesTorqueController().
RTT::Property<std::vector <double> > upperPositionLimits [protected] |
upper limit for the positions.
Used to fire an event if necessary.
Definition at line 132 of file Kuka361nAxesTorqueController.hpp.
Referenced by Kuka361nAxesTorqueController::Kuka361nAxesTorqueController().
RTT::Property<std::vector <double> > velocityLimits [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 114 of file Kuka361nAxesTorqueController.hpp.
Referenced by Kuka361nAxesTorqueController::Kuka361nAxesTorqueController().
RTT::Event< void(std::string) > velocityOutOfRange [protected] |
parameters to this event are the axis and the velocity that is out of range.
Each axis that is out of range throws a seperate event. The component will continue with the previous value.
Definition at line 162 of file Kuka361nAxesTorqueController.hpp.
Referenced by Kuka361nAxesTorqueController::Kuka361nAxesTorqueController().
1.6.3