ttl_driver::Ned3ProEndEffectorDriver< reg_type > Class Template Reference

The Ned3ProEndEffectorDriver class. More...

#include <ned3pro_end_effector_driver.hpp>

Inheritance diagram for ttl_driver::Ned3ProEndEffectorDriver< reg_type >:

Public Member Functions
int	checkModelNumber (uint8_t id) override
	Ned3ProEndEffectorDriver<reg_type>::checkModelNumber. More...
	Ned3ProEndEffectorDriver (std::shared_ptr< dynamixel::PortHandler > portHandler, std::shared_ptr< dynamixel::PacketHandler > packetHandler)
	Ned3ProEndEffectorDriver<reg_type>::Ned3ProEndEffectorDriver. More...
int	readAccelerometerXValue (uint8_t id, uint32_t &x_value) override
	Ned3ProEndEffectorDriver<reg_type>::readAccelerometerXValue. More...
int	readAccelerometerYValue (uint8_t id, uint32_t &y_value) override
	Ned3ProEndEffectorDriver<reg_type>::readAccelerometerYValue. More...
int	readAccelerometerZValue (uint8_t id, uint32_t &z_value) override
	Ned3ProEndEffectorDriver<reg_type>::readAccelerometerZValue. More...
int	readButton0Status (uint8_t id, common::model::EActionType &action) override
	Ned3ProEndEffectorDriver<reg_type>::readButton0Status. More...
int	readButton1Status (uint8_t id, common::model::EActionType &action) override
	Ned3ProEndEffectorDriver<reg_type>::readButton1Status. More...
int	readButton2Status (uint8_t id, common::model::EActionType &action) override
	Ned3ProEndEffectorDriver<reg_type>::readButton2Status. More...
int	readCollisionStatus (uint8_t id, bool &status) override
	Ned3ProEndEffectorDriver<reg_type>::readCollisionStatus. More...
int	readCollisionThresh (uint8_t id, uint32_t &thresh)
	Ned3ProEndEffectorDriver<reg_type>::readCollisionThresh. More...
int	readCollisionThreshAlgo2 (uint8_t id, uint32_t &thresh)
	Ned3ProEndEffectorDriver<reg_type>::readCollisionThreshAlgo2. More...
int	readDigitalInput (uint8_t id, bool &in) override
	Ned3ProEndEffectorDriver<reg_type>::readDigitalInput. More...
int	readFirmwareVersion (uint8_t id, std::string &version) override
	Ned3ProEndEffectorDriver<reg_type>::readFirmwareVersion. More...
int	readHwErrorStatus (uint8_t id, uint8_t &hardware_error_status) override
	Ned3ProEndEffectorDriver<reg_type>::readHwErrorStatus. More...
int	readTemperature (uint8_t id, uint8_t &temperature) override
	Ned3ProEndEffectorDriver<reg_type>::readTemperature. More...
int	readVoltage (uint8_t id, double &voltage) override
	Ned3ProEndEffectorDriver<reg_type>::readVoltage. More...
std::string	str () const override
	Ned3ProEndEffectorDriver<reg_type>::str. More...
int	syncReadButtonsStatus (const uint8_t &id, std::vector< common::model::EActionType > &action_list) override
	Ned3ProEndEffectorDriver<reg_type>::syncReadButtonsStatus. More...
int	syncReadFirmwareVersion (const std::vector< uint8_t > &id_list, std::vector< std::string > &firmware_list) override
	Ned3ProEndEffectorDriver<reg_type>::syncReadFirmwareVersion. More...
int	syncReadHwErrorStatus (const std::vector< uint8_t > &id_list, std::vector< uint8_t > &hw_error_list) override
	Ned3ProEndEffectorDriver<reg_type>::syncReadHwErrorStatus. More...
int	syncReadHwStatus (const std::vector< uint8_t > &id_list, std::vector< std::pair< double, uint8_t >> &data_list) override
	Ned3ProEndEffectorDriver<reg_type>::syncReadHwStatus. More...
int	syncReadRawVoltage (const std::vector< uint8_t > &id_list, std::vector< double > &voltage_list) override
	Ned3ProEndEffectorDriver<reg_type>::syncReadRawVoltage. More...
int	syncReadTemperature (const std::vector< uint8_t > &id_list, std::vector< uint8_t > &temperature_list) override
	Ned3ProEndEffectorDriver<reg_type>::syncReadTemperature. More...
int	syncReadVoltage (const std::vector< uint8_t > &id_list, std::vector< double > &voltage_list) override
	Ned3ProEndEffectorDriver<reg_type>::syncReadVoltage. More...
int	writeCollisionThresh (uint8_t id, int thresh) override
	Ned3ProEndEffectorDriver<reg_type>::writeCollisionThresh. More...
int	writeCollisionThreshAlgo2 (uint8_t id, int thresh) override
	Ned3ProEndEffectorDriver<reg_type>::writeCollisionThreshAlgo2. More...
int	writeDigitalInput (uint8_t id, bool in) override
	Ned3ProEndEffectorDriver<reg_type>::writeDigitalInput not implemented for real end effectors. More...
int	writeDigitalOutput (uint8_t id, bool out) override
	Ned3ProEndEffectorDriver<reg_type>::setDigitalOutput. More...
Public Member Functions inherited from ttl_driver::AbstractEndEffectorDriver
	AbstractEndEffectorDriver ()=default
	AbstractEndEffectorDriver (std::shared_ptr< dynamixel::PortHandler > portHandler, std::shared_ptr< dynamixel::PacketHandler > packetHandler)
common::model::EActionType	interpretActionValue (uint32_t value) const
	MockEndEffectorDriver::interpretActionValue. More...
std::string	interpretErrorState (uint32_t hw_state) const override
	MockEndEffectorDriver::interpretErrorState. More...
int	writeSingleCmd (const std::unique_ptr< common::model::AbstractTtlSingleMotorCmd > &cmd) override
	MockEndEffectorDriver::writeSingleCmd. More...
int	writeSyncCmd (int type, const std::vector< uint8_t > &ids, const std::vector< uint32_t > &params) override
	MockEndEffectorDriver::writeSyncCmd. More...
Public Member Functions inherited from ttl_driver::AbstractTtlDriver
	AbstractTtlDriver ()=default
	AbstractTtlDriver (std::shared_ptr< dynamixel::PortHandler > portHandler, std::shared_ptr< dynamixel::PacketHandler > packetHandler)
	AbstractTtlDriver::AbstractTtlDriver. More...
virtual int	getModelNumber (uint8_t id, uint16_t &model_number)
	AbstractTtlDriver::getModelNumber. More...
virtual int	ping (uint8_t id)
	AbstractTtlDriver::ping. More...
virtual int	readCustom (uint16_t address, uint8_t data_len, uint8_t id, uint32_t &data)
	AbstractTtlDriver::readCustom. More...
virtual int	reboot (uint8_t id)
	AbstractTtlDriver::reboot. More...
virtual int	scan (std::vector< uint8_t > &id_list)
	AbstractTtlDriver::scan. More...
virtual int	syncReadHwStatus (const std::vector< uint8_t > &id_list, std::vector< std::pair< double, uint8_t > > &data_array_list)=0
virtual int	writeCustom (uint16_t address, uint8_t data_len, uint8_t id, uint32_t data)
	AbstractTtlDriver::writeCustom. More...
virtual	~AbstractTtlDriver ()=default

Additional Inherited Members
Protected Member Functions inherited from ttl_driver::AbstractEndEffectorDriver
std::string	interpretFirmwareVersion (uint32_t fw_version) const override
	MockEndEffectorDriver::interpretFirmawreVersion. More...
Protected Member Functions inherited from ttl_driver::AbstractTtlDriver
	AbstractTtlDriver (AbstractTtlDriver &&)=default
	AbstractTtlDriver (const AbstractTtlDriver &)=default
AbstractTtlDriver &	operator= (AbstractTtlDriver &&)=default
AbstractTtlDriver &	operator= (const AbstractTtlDriver &)=default
template<typename T >
int	read (uint16_t address, uint8_t id, T &data)
	AbstractTtlDriver::read. More...
template<typename T >
int	syncRead (uint16_t address, const std::vector< uint8_t > &id_list, std::vector< T > &data_list)
	AbstractTtlDriver::syncRead. More...
template<typename T , const size_t N>
int	syncReadConsecutiveBytes (uint16_t address, const std::vector< uint8_t > &id_list, std::vector< std::array< T, N > > &data_list)
	AbstractTtlDriver::syncReadConsecutiveBytes. More...
template<typename T >
int	syncWrite (uint16_t address, const std::vector< uint8_t > &id_list, const std::vector< T > &data_list)
template<typename T >
int	write (uint16_t address, uint8_t id, T data)
Static Protected Attributes inherited from ttl_driver::AbstractTtlDriver
static constexpr int	PING_WRONG_MODEL_NUMBER = 30

Detailed Description

template<typename reg_type = Ned3ProEndEffectorReg>
class ttl_driver::Ned3ProEndEffectorDriver< reg_type >

The Ned3ProEndEffectorDriver class.

Definition at line 42 of file ned3pro_end_effector_driver.hpp.

Constructor & Destructor Documentation

Ned3ProEndEffectorDriver()

template<typename reg_type >

ttl_driver::Ned3ProEndEffectorDriver< reg_type >::Ned3ProEndEffectorDriver	(	std::shared_ptr< dynamixel::PortHandler >	portHandler,
		std::shared_ptr< dynamixel::PacketHandler >	packetHandler
	)

Ned3ProEndEffectorDriver<reg_type>::Ned3ProEndEffectorDriver.

Definition at line 100 of file ned3pro_end_effector_driver.hpp.

Member Function Documentation

checkModelNumber()

template<typename reg_type >

int ttl_driver::Ned3ProEndEffectorDriver< reg_type >::checkModelNumber ( uint8_t  id )

overridevirtual

Ned3ProEndEffectorDriver<reg_type>::checkModelNumber.

Parameters

id

Returns

Implements ttl_driver::AbstractTtlDriver.

Definition at line 126 of file ned3pro_end_effector_driver.hpp.

readAccelerometerXValue()

template<typename reg_type >

int ttl_driver::Ned3ProEndEffectorDriver< reg_type >::readAccelerometerXValue ( uint8_t  id, uint32_t &  x_value  )

overridevirtual

Ned3ProEndEffectorDriver<reg_type>::readAccelerometerXValue.

Parameters

id
x_value

Returns

Implements ttl_driver::AbstractEndEffectorDriver.

Definition at line 384 of file ned3pro_end_effector_driver.hpp.

readAccelerometerYValue()

template<typename reg_type >

int ttl_driver::Ned3ProEndEffectorDriver< reg_type >::readAccelerometerYValue ( uint8_t  id, uint32_t &  y_value  )

overridevirtual

Ned3ProEndEffectorDriver<reg_type>::readAccelerometerYValue.

Parameters

id
y_value

Returns

Implements ttl_driver::AbstractEndEffectorDriver.

Definition at line 396 of file ned3pro_end_effector_driver.hpp.

readAccelerometerZValue()

template<typename reg_type >

int ttl_driver::Ned3ProEndEffectorDriver< reg_type >::readAccelerometerZValue ( uint8_t  id, uint32_t &  z_value  )

overridevirtual

Ned3ProEndEffectorDriver<reg_type>::readAccelerometerZValue.

Parameters

id
z_value

Returns

Implements ttl_driver::AbstractEndEffectorDriver.

Definition at line 408 of file ned3pro_end_effector_driver.hpp.

readButton0Status()

template<typename reg_type >

int ttl_driver::Ned3ProEndEffectorDriver< reg_type >::readButton0Status ( uint8_t  id, common::model::EActionType &  action  )

overridevirtual

Ned3ProEndEffectorDriver<reg_type>::readButton0Status.

Parameters

id
action

Returns

Implements ttl_driver::AbstractEndEffectorDriver.

Definition at line 314 of file ned3pro_end_effector_driver.hpp.

readButton1Status()

template<typename reg_type >

int ttl_driver::Ned3ProEndEffectorDriver< reg_type >::readButton1Status ( uint8_t  id, common::model::EActionType &  action  )

overridevirtual

Ned3ProEndEffectorDriver<reg_type>::readButton1Status.

Parameters

id
action

Returns

Implements ttl_driver::AbstractEndEffectorDriver.

Definition at line 330 of file ned3pro_end_effector_driver.hpp.

readButton2Status()

template<typename reg_type >

int ttl_driver::Ned3ProEndEffectorDriver< reg_type >::readButton2Status ( uint8_t  id, common::model::EActionType &  action  )

overridevirtual

Ned3ProEndEffectorDriver<reg_type>::readButton2Status.

Parameters

id
action

Returns

Implements ttl_driver::AbstractEndEffectorDriver.

Definition at line 345 of file ned3pro_end_effector_driver.hpp.

readCollisionStatus()

template<typename reg_type >

int ttl_driver::Ned3ProEndEffectorDriver< reg_type >::readCollisionStatus ( uint8_t  id, bool &  status  )

overridevirtual

Ned3ProEndEffectorDriver<reg_type>::readCollisionStatus.

Parameters

id
status

Returns

Implements ttl_driver::AbstractEndEffectorDriver.

Definition at line 420 of file ned3pro_end_effector_driver.hpp.

readCollisionThresh()

template<typename reg_type >

int ttl_driver::Ned3ProEndEffectorDriver< reg_type >::readCollisionThresh	(	uint8_t	id,
		uint32_t &	thresh
	)

Ned3ProEndEffectorDriver<reg_type>::readCollisionThresh.

Parameters

id
thresh

Returns

Definition at line 490 of file ned3pro_end_effector_driver.hpp.

readCollisionThreshAlgo2()

template<typename reg_type >

int ttl_driver::Ned3ProEndEffectorDriver< reg_type >::readCollisionThreshAlgo2	(	uint8_t	id,
		uint32_t &	thresh
	)

Ned3ProEndEffectorDriver<reg_type>::readCollisionThreshAlgo2.

Parameters

id
thresh

Returns

Definition at line 514 of file ned3pro_end_effector_driver.hpp.

readDigitalInput()

template<typename reg_type >

int ttl_driver::Ned3ProEndEffectorDriver< reg_type >::readDigitalInput ( uint8_t  id, bool &  in  )

overridevirtual

Ned3ProEndEffectorDriver<reg_type>::readDigitalInput.

Parameters

id
in

Returns

Implements ttl_driver::AbstractEndEffectorDriver.

Definition at line 439 of file ned3pro_end_effector_driver.hpp.

readFirmwareVersion()

template<typename reg_type >

int ttl_driver::Ned3ProEndEffectorDriver< reg_type >::readFirmwareVersion ( uint8_t  id, std::string &  version  )

overridevirtual

Ned3ProEndEffectorDriver<reg_type>::readFirmwareVersion.

Parameters

id
version

Returns

Implements ttl_driver::AbstractTtlDriver.

Definition at line 149 of file ned3pro_end_effector_driver.hpp.

readHwErrorStatus()

template<typename reg_type >

int ttl_driver::Ned3ProEndEffectorDriver< reg_type >::readHwErrorStatus ( uint8_t  id, uint8_t &  hardware_error_status  )

overridevirtual

Ned3ProEndEffectorDriver<reg_type>::readHwErrorStatus.

Parameters

id
hardware_error_status

Returns

Implements ttl_driver::AbstractTtlDriver.

Definition at line 194 of file ned3pro_end_effector_driver.hpp.

readTemperature()

template<typename reg_type >

int ttl_driver::Ned3ProEndEffectorDriver< reg_type >::readTemperature ( uint8_t  id, uint8_t &  temperature  )

overridevirtual

Ned3ProEndEffectorDriver<reg_type>::readTemperature.

Parameters

id
temperature

Returns

Implements ttl_driver::AbstractTtlDriver.

Definition at line 167 of file ned3pro_end_effector_driver.hpp.

readVoltage()

template<typename reg_type >

int ttl_driver::Ned3ProEndEffectorDriver< reg_type >::readVoltage ( uint8_t  id, double &  voltage  )

overridevirtual

Ned3ProEndEffectorDriver<reg_type>::readVoltage.

Parameters

id
voltage

Returns

Implements ttl_driver::AbstractTtlDriver.

Definition at line 179 of file ned3pro_end_effector_driver.hpp.

str()

template<typename reg_type >

std::string ttl_driver::Ned3ProEndEffectorDriver< reg_type >::str

overridevirtual

Ned3ProEndEffectorDriver<reg_type>::str.

Returns

Reimplemented from ttl_driver::AbstractEndEffectorDriver.

Definition at line 115 of file ned3pro_end_effector_driver.hpp.

syncReadButtonsStatus()

template<typename reg_type >

int ttl_driver::Ned3ProEndEffectorDriver< reg_type >::syncReadButtonsStatus ( const uint8_t &  id, std::vector< common::model::EActionType > &  action_list  )

overridevirtual

Ned3ProEndEffectorDriver<reg_type>::syncReadButtonsStatus.

Parameters

id
action_list

Returns

Implements ttl_driver::AbstractEndEffectorDriver.

Definition at line 360 of file ned3pro_end_effector_driver.hpp.

syncReadFirmwareVersion()

template<typename reg_type >

int ttl_driver::Ned3ProEndEffectorDriver< reg_type >::syncReadFirmwareVersion ( const std::vector< uint8_t > &  id_list, std::vector< std::string > &  firmware_list  )

overridevirtual

Ned3ProEndEffectorDriver<reg_type>::syncReadFirmwareVersion.

Parameters

id_list
firmware_list

Returns

Implements ttl_driver::AbstractTtlDriver.

Definition at line 207 of file ned3pro_end_effector_driver.hpp.

syncReadHwErrorStatus()

template<typename reg_type >

int ttl_driver::Ned3ProEndEffectorDriver< reg_type >::syncReadHwErrorStatus ( const std::vector< uint8_t > &  id_list, std::vector< uint8_t > &  hw_error_list  )

overridevirtual

Ned3ProEndEffectorDriver<reg_type>::syncReadHwErrorStatus.

Parameters

id_list
hw_error_list

Returns

Implements ttl_driver::AbstractTtlDriver.

Definition at line 300 of file ned3pro_end_effector_driver.hpp.

syncReadHwStatus()

template<typename reg_type >

int ttl_driver::Ned3ProEndEffectorDriver< reg_type >::syncReadHwStatus ( const std::vector< uint8_t > &  id_list, std::vector< std::pair< double, uint8_t >> &  data_list  )

override

Ned3ProEndEffectorDriver<reg_type>::syncReadHwStatus.

Parameters

id_list
data_list

Returns

Definition at line 271 of file ned3pro_end_effector_driver.hpp.

syncReadRawVoltage()

template<typename reg_type >

int ttl_driver::Ned3ProEndEffectorDriver< reg_type >::syncReadRawVoltage ( const std::vector< uint8_t > &  id_list, std::vector< double > &  voltage_list  )

overridevirtual

Ned3ProEndEffectorDriver<reg_type>::syncReadRawVoltage.

Parameters

id_list
voltage_list

Returns

Implements ttl_driver::AbstractTtlDriver.

Definition at line 254 of file ned3pro_end_effector_driver.hpp.

syncReadTemperature()

template<typename reg_type >

int ttl_driver::Ned3ProEndEffectorDriver< reg_type >::syncReadTemperature ( const std::vector< uint8_t > &  id_list, std::vector< uint8_t > &  temperature_list  )

overridevirtual

Ned3ProEndEffectorDriver<reg_type>::syncReadTemperature.

Parameters

id_list
temperature_list

Returns

Implements ttl_driver::AbstractTtlDriver.

Definition at line 225 of file ned3pro_end_effector_driver.hpp.

syncReadVoltage()

template<typename reg_type >

int ttl_driver::Ned3ProEndEffectorDriver< reg_type >::syncReadVoltage ( const std::vector< uint8_t > &  id_list, std::vector< double > &  voltage_list  )

overridevirtual

Ned3ProEndEffectorDriver<reg_type>::syncReadVoltage.

Parameters

id_list
voltage_list

Returns

Implements ttl_driver::AbstractTtlDriver.

Definition at line 237 of file ned3pro_end_effector_driver.hpp.

writeCollisionThresh()

template<typename reg_type >

int ttl_driver::Ned3ProEndEffectorDriver< reg_type >::writeCollisionThresh ( uint8_t  id, int  thresh  )

overridevirtual

Ned3ProEndEffectorDriver<reg_type>::writeCollisionThresh.

Parameters

id
thresh

Returns

Implements ttl_driver::AbstractEndEffectorDriver.

Definition at line 478 of file ned3pro_end_effector_driver.hpp.

writeCollisionThreshAlgo2()

template<typename reg_type >

int ttl_driver::Ned3ProEndEffectorDriver< reg_type >::writeCollisionThreshAlgo2 ( uint8_t  id, int  thresh  )

overridevirtual

Ned3ProEndEffectorDriver<reg_type>::writeCollisionThreshAlgo2.

Parameters

id
thresh

Returns

Implements ttl_driver::AbstractEndEffectorDriver.

Definition at line 502 of file ned3pro_end_effector_driver.hpp.

writeDigitalInput()

template<typename reg_type >

int ttl_driver::Ned3ProEndEffectorDriver< reg_type >::writeDigitalInput ( uint8_t  id, bool  in  )

overridevirtual

Ned3ProEndEffectorDriver<reg_type>::writeDigitalInput not implemented for real end effectors.

Parameters

id	the device ID
in	the input value to write

Returns

the result of the operation as a status code

Implements ttl_driver::AbstractEndEffectorDriver.

Definition at line 454 of file ned3pro_end_effector_driver.hpp.

writeDigitalOutput()

template<typename reg_type >

int ttl_driver::Ned3ProEndEffectorDriver< reg_type >::writeDigitalOutput ( uint8_t  id, bool  out  )

overridevirtual

Ned3ProEndEffectorDriver<reg_type>::setDigitalOutput.

Parameters

id
out	1 : true, 0: false

Returns

Implements ttl_driver::AbstractEndEffectorDriver.

Definition at line 466 of file ned3pro_end_effector_driver.hpp.

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

• ned3pro_end_effector_driver.hpp