Robotics Library  0.6.0
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Classes | Public Types | Public Member Functions | Private Attributes
rl::hal::MitsubishiH7 Class Reference

#include <MitsubishiH7.h>

Inheritance diagram for rl::hal::MitsubishiH7:
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List of all members.

Classes

struct  CalibState
struct  EditSts
struct  Hand
struct  MxtCommand
struct  MxtJoint
struct  MxtPose
struct  MxtPulse
struct  MxtWorld
struct  RunState
struct  RunSts
struct  StopSignalState
struct  StopState
struct  StopSts

Public Types

enum  Mode { MODE_JOINT = 1, MODE_POSE = 0, MODE_PULSE = 2 }
enum  HandSts { HANDSTS_NOTUSED = -1, HANDSTS_OPEN = 1, HANDSTS_CLOSED = 2 }
enum  HandType { HANDTYPE_NOTUSED = -1, HANDTYPE_SINGLE = 0, HANDTYPE_DOUBLE = 1 }
enum  TaskCond { TASKCOND_START, TASKCOND_ALWAYS, TASKCOND_ERROR }
typedef bool MechInfo [3]
typedef Hand HandState [8]

Public Member Functions

 MitsubishiH7 (const ::std::size_t &dof, const ::std::string &server, const ::std::string &client, const unsigned short int &tcp=10001, const unsigned short int &udp=10000, const Mode &mode=MODE_JOINT, const uint16_t &haltIoData=0x00AA, const uint16_t &releaseIoData=0x00A6, const uint16_t &shutIoData=0x000A9)
virtual ~MitsubishiH7 ()
void calibCmd (CalibState &state) const
void close ()
void cntlCmd (const bool &doOn) const
void datinstCmd (const ::std::string &j1, const ::std::string &j2, const ::std::string &j3, const ::std::string &j4, const ::std::string &j5, const ::std::string &j6, const ::std::string &checksum) const
void datinstCmd (const ::std::string &j1, const ::std::string &j2, const ::std::string &j3, const ::std::string &j4, const ::std::string &j5, const ::std::string &j6, const ::std::string &j7, const ::std::string &j8, const ::std::string &checksum) const
void dstateCmd (StopState &state) const
void eclrCmd () const
void emdatCmd (const ::std::string &program) const
::std::string errormesCmd (const int &errorNo) const
void execCmd (const ::std::string &instruction) const
void getCartesianPosition (::rl::math::Transform &x) const
void getCurrentFeedback (::Eigen::Matrix< int32_t,::Eigen::Dynamic, 1 > &c) const
::std::size_t getFilter () const
uint16_t getIoData () const
void getJointPosition (::rl::math::Vector &q) const
Mode getMode () const
void getMotorPulse (::Eigen::Matrix< int32_t,::Eigen::Dynamic, 1 > &p) const
void halt ()
void hndCmd (const bool &doOpen, const int &handNo) const
void hndstsCmd (HandState &state) const
void inEqualsCmd (const ::std::size_t &inNo, const ::std::string &inVal) const
void loadCmd (const ::std::string &programName) const
void loadProgram (const ::std::string &name, const ::std::string &program) const
void newCmd () const
void open ()
void outEqualsCmd (const ::std::size_t &outNo, const ::std::string &outVal) const
void release ()
void rstalrmCmd () const
void rstpwrCmd () const
void runCmd (const ::std::string &programName, const bool &doModeCycle=false) const
void saveCmd () const
void setCartesianPosition (const ::rl::math::Transform &x)
void setFilter (const ::std::size_t &filter)
void setInput (const uint16_t &bitTop)
void setJointPosition (const ::rl::math::Vector &q)
void setMode (const Mode &mode)
void setMotorPulse (const ::Eigen::Matrix< int32_t,::Eigen::Dynamic, 1 > &p)
void setOutput (const uint16_t &bitTop, const uint16_t &bitMask, const uint16_t &ioData)
void shut ()
void slotinitCmd () const
void srvCmd (const bool &doOn) const
void start ()
void startProgram (const ::std::string &name) const
void stateCmd (RunState &state) const
void step ()
void stopCmd () const
void stop ()
void stopProgram () const
void stpsigCmd (StopSignalState &state) const
- Public Member Functions inherited from rl::hal::CartesianPositionActuator
 CartesianPositionActuator (const ::std::size_t &dof, const ::rl::math::Real &updateRate)
virtual ~CartesianPositionActuator ()
- Public Member Functions inherited from rl::hal::AxisController
 AxisController (const ::std::size_t &dof, const ::rl::math::Real &updateRate)
virtual ~AxisController ()
::std::size_t getDof () const
virtual ::rl::math::Real getUpdateRate () const
- Public Member Functions inherited from rl::hal::Device
 Device ()
virtual ~Device ()
bool isConnected () const
bool isRunning () const
- Public Member Functions inherited from rl::hal::CartesianPositionSensor
 CartesianPositionSensor (const ::std::size_t &dof, const ::rl::math::Real &updateRate)
virtual ~CartesianPositionSensor ()
- Public Member Functions inherited from rl::hal::Gripper
 Gripper ()
virtual ~Gripper ()
- Public Member Functions inherited from rl::hal::JointPositionActuator
 JointPositionActuator (const ::std::size_t &dof, const ::rl::math::Real &updateRate)
virtual ~JointPositionActuator ()
- Public Member Functions inherited from rl::hal::JointPositionSensor
 JointPositionSensor (const ::std::size_t &dof, const ::rl::math::Real &updateRate)
virtual ~JointPositionSensor ()

Private Attributes

::std::string client
::std::size_t filter
uint16_t haltIoData
MxtCommand in
Mode mode
MxtCommand out
uint16_t releaseIoData
::std::string server
uint16_t shutIoData
TcpSockettcp
UdpSocketudp

Member Typedef Documentation

typedef Hand rl::hal::MitsubishiH7::HandState[8]
typedef bool rl::hal::MitsubishiH7::MechInfo[3]

Mech info (Mech 1, Mech 2, Mech 3).


Member Enumeration Documentation

Enumerator:
HANDSTS_NOTUSED 
HANDSTS_OPEN 

Hand open.

HANDSTS_CLOSED 

Hand closed.

Enumerator:
HANDTYPE_NOTUSED 
HANDTYPE_SINGLE 

Single-solenoid.

HANDTYPE_DOUBLE 

Double-solenoid.

Enumerator:
MODE_JOINT 
MODE_POSE 
MODE_PULSE 
Enumerator:
TASKCOND_START 

START.

TASKCOND_ALWAYS 

ALWAYS.

TASKCOND_ERROR 

ERROR.


Constructor & Destructor Documentation

rl::hal::MitsubishiH7::MitsubishiH7 ( const ::std::size_t &  dof,
const ::std::string &  server,
const ::std::string &  client,
const unsigned short int &  tcp = 10001,
const unsigned short int &  udp = 10000,
const Mode mode = MODE_JOINT,
const uint16_t &  haltIoData = 0x00AA,
const uint16_t &  releaseIoData = 0x00A6,
const uint16_t &  shutIoData = 0x000A9 
)
rl::hal::MitsubishiH7::~MitsubishiH7 ( )
virtual

Member Function Documentation

void rl::hal::MitsubishiH7::calibCmd ( CalibState state) const

The install status is read.

Parameters:
stateinstall state
void rl::hal::MitsubishiH7::close ( )
virtual
Precondition:
stop()

Implements rl::hal::Device.

void rl::hal::MitsubishiH7::cntlCmd ( const bool &  doOn) const

Operation enable or disable. When the command which needs the operation right such as program start, servo ON and more is used, the operation right should be made effective.

Parameters:
doOnOFF / ON
void rl::hal::MitsubishiH7::datinstCmd ( const ::std::string &  j1,
const ::std::string &  j2,
const ::std::string &  j3,
const ::std::string &  j4,
const ::std::string &  j5,
const ::std::string &  j6,
const ::std::string &  checksum 
) const

The origin is set by the data input.

Parameters:
j1j1 data
j2j2 data
j3j3 data
j4j4 data
j5j5 data
j6j6 data
checksumchecksum
void rl::hal::MitsubishiH7::datinstCmd ( const ::std::string &  j1,
const ::std::string &  j2,
const ::std::string &  j3,
const ::std::string &  j4,
const ::std::string &  j5,
const ::std::string &  j6,
const ::std::string &  j7,
const ::std::string &  j8,
const ::std::string &  checksum 
) const

The origin is set by the data input.

Parameters:
j1j1 data
j2j2 data
j3j3 data
j4j4 data
j5j5 data
j6j6 data
j7j7 data
j8j8 data
checksumchecksum
void rl::hal::MitsubishiH7::dstateCmd ( StopState state) const

The stop state is read.

Parameters:
statestop state
void rl::hal::MitsubishiH7::eclrCmd ( ) const

Clear program contents. It is effective in the edit slot.

void rl::hal::MitsubishiH7::emdatCmd ( const ::std::string &  program) const

More line and position are registered in the program. It is effective in the edit slot.

Parameters:
programline data and positional data (<line or="" position>="">[0b<line or="" position>="">...])
std::string rl::hal::MitsubishiH7::errormesCmd ( const int &  errorNo) const

The content of the error is read.

Parameters:
errorNoerror number
Returns:
content of the error
void rl::hal::MitsubishiH7::execCmd ( const ::std::string &  instruction) const

The instruction is executed directly.

Parameters:
instructioninstruction of MELFA-BASIC IV or MOVEMASTER commands
void rl::hal::MitsubishiH7::getCartesianPosition ( ::rl::math::Transform x) const
virtual
void rl::hal::MitsubishiH7::getCurrentFeedback ( ::Eigen::Matrix< int32_t,::Eigen::Dynamic, 1 > &  c) const
std::size_t rl::hal::MitsubishiH7::getFilter ( ) const
uint16_t rl::hal::MitsubishiH7::getIoData ( ) const
void rl::hal::MitsubishiH7::getJointPosition ( ::rl::math::Vector q) const
virtual
MitsubishiH7::Mode rl::hal::MitsubishiH7::getMode ( ) const
void rl::hal::MitsubishiH7::getMotorPulse ( ::Eigen::Matrix< int32_t,::Eigen::Dynamic, 1 > &  p) const
void rl::hal::MitsubishiH7::halt ( )
virtual

Implements rl::hal::Gripper.

void rl::hal::MitsubishiH7::hndCmd ( const bool &  doOpen,
const int &  handNo 
) const

The hand is openend and closed.

Parameters:
doOpenCLOSE / OPEN
handNohand number (1 - 8) is specified
void rl::hal::MitsubishiH7::hndstsCmd ( HandState state) const

The setting and the output of the hand are read.

Parameters:
statehand state
void rl::hal::MitsubishiH7::inEqualsCmd ( const ::std::size_t &  inNo,
const ::std::string &  inVal 
) const

The input signal is pseudo-input.

Parameters:
inNoinput signal number
inValpseudo-input signal value by 4 hex number fixation
void rl::hal::MitsubishiH7::loadCmd ( const ::std::string &  programName) const

Open the program for edit.

Parameters:
programNameedit program name
void rl::hal::MitsubishiH7::loadProgram ( const ::std::string &  name,
const ::std::string &  program 
) const
void rl::hal::MitsubishiH7::newCmd ( ) const

The program is closed annulling the content of the edit.

void rl::hal::MitsubishiH7::open ( )
virtual

Implements rl::hal::Device.

void rl::hal::MitsubishiH7::outEqualsCmd ( const ::std::size_t &  outNo,
const ::std::string &  outVal 
) const

The output signal is compelling output.

Parameters:
outNooutput signal number
outValoutput signal value by 4 hex number fixation
void rl::hal::MitsubishiH7::release ( )
virtual

Implements rl::hal::Gripper.

void rl::hal::MitsubishiH7::rstalrmCmd ( ) const

The error is reset.

void rl::hal::MitsubishiH7::rstpwrCmd ( ) const

Power supply reset (reboot) of the controller is executed.

void rl::hal::MitsubishiH7::runCmd ( const ::std::string &  programName,
const bool &  doModeCycle = false 
) const

The program is started.

Parameters:
programNameprogram name
doModeCyclerepeat start / cycle start
void rl::hal::MitsubishiH7::saveCmd ( ) const

The content of the edit is preserved and the program is closed.

void rl::hal::MitsubishiH7::setCartesianPosition ( const ::rl::math::Transform x)
virtual
void rl::hal::MitsubishiH7::setFilter ( const ::std::size_t &  filter)
void rl::hal::MitsubishiH7::setInput ( const uint16_t &  bitTop)
void rl::hal::MitsubishiH7::setJointPosition ( const ::rl::math::Vector q)
virtual
void rl::hal::MitsubishiH7::setMode ( const Mode mode)
void rl::hal::MitsubishiH7::setMotorPulse ( const ::Eigen::Matrix< int32_t,::Eigen::Dynamic, 1 > &  p)
void rl::hal::MitsubishiH7::setOutput ( const uint16_t &  bitTop,
const uint16_t &  bitMask,
const uint16_t &  ioData 
)
void rl::hal::MitsubishiH7::shut ( )
virtual

Implements rl::hal::Gripper.

void rl::hal::MitsubishiH7::slotinitCmd ( ) const

The program resets all slots.

void rl::hal::MitsubishiH7::srvCmd ( const bool &  doOn) const

The servo power supply is turned on and off.

Parameters:
doOnOFF / ON
void rl::hal::MitsubishiH7::start ( )
virtual
Precondition:
open()

Implements rl::hal::Device.

void rl::hal::MitsubishiH7::startProgram ( const ::std::string &  name) const
void rl::hal::MitsubishiH7::stateCmd ( RunState state) const

The run state is read.

Parameters:
staterun state
void rl::hal::MitsubishiH7::step ( )
virtual
Precondition:
start()

Implements rl::hal::Device.

void rl::hal::MitsubishiH7::stop ( )
virtual
Precondition:
open()

Implements rl::hal::Device.

void rl::hal::MitsubishiH7::stopCmd ( ) const

The start is stopped.

void rl::hal::MitsubishiH7::stopProgram ( ) const
void rl::hal::MitsubishiH7::stpsigCmd ( StopSignalState state) const

The state of the stop signal is read.

Parameters:
statestop signal state

Member Data Documentation

::std::string rl::hal::MitsubishiH7::client
private

Client ip address or hostname.

::std::size_t rl::hal::MitsubishiH7::filter
private

Internal filter value.

uint16_t rl::hal::MitsubishiH7::haltIoData
private
MxtCommand rl::hal::MitsubishiH7::in
private
Mode rl::hal::MitsubishiH7::mode
private
MxtCommand rl::hal::MitsubishiH7::out
private
uint16_t rl::hal::MitsubishiH7::releaseIoData
private
::std::string rl::hal::MitsubishiH7::server
private

Server ip address or hostname.

uint16_t rl::hal::MitsubishiH7::shutIoData
private
TcpSocket* rl::hal::MitsubishiH7::tcp
private
UdpSocket* rl::hal::MitsubishiH7::udp
private

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