CscServoInterface Class Reference

#include <CscServoInterface.h>

Public Member Functions
	CscServoInterface ()
bool	setupSerialStream (FileDesc &fd, const char *portName)
void	writePelcoPMessage (int movement, float deltaAngleMotor0, float deltaAngleMotor1)
void	processUnitSample ()
int	processResultToRs (CscState *state)
bool	writeToRs (const char *buffer, unsigned int buf_size)
bool	isActivated ()
void	closeSerial ()
virtual	~CscServoInterface ()
void	updateStatusAndProcessAction ()
void	initUpdateStatusAndProcessActionThread ()
void	activate (const char *rsPortName)
void	disactivate ()
void	reachMotorsAngles (float directionValues[2])
int	updateRequestedMotorsAngles (float motor0Speed, float motor1Speed)
void	stopAllMovments ()
float	getMotoValInPercent (int motorId)
void	emergencyStop ()
void	writeSerialMessage (int motor, int targetAngleMotor)

Static Public Member Functions
static CscServoInterface *	getInstance ()

Public Attributes
const char *	rsPortName
int	rsFd

Constructor & Destructor Documentation

CscServoInterface()

CscServoInterface::CscServoInterface ( )

explicit

~CscServoInterface()

CscServoInterface::~CscServoInterface ( )

virtual

Member Function Documentation

activate()

void CscServoInterface::activate

(

const char *

rsPortName

)

closeSerial()

void CscServoInterface::closeSerial

(

)

disactivate()

void CscServoInterface::disactivate

(

)

emergencyStop()

void CscServoInterface::emergencyStop

(

)

getInstance()

static CscServoInterface* CscServoInterface::getInstance ( )

inlinestatic

getMotoValInPercent()

float CscServoInterface::getMotoValInPercent

(

int

motorId

)

initUpdateStatusAndProcessActionThread()

void CscServoInterface::initUpdateStatusAndProcessActionThread

(

)

isActivated()

bool CscServoInterface::isActivated

(

)

processResultToRs()

int CscServoInterface::processResultToRs

(

CscState *

state

)

processUnitSample()

void CscServoInterface::processUnitSample

(

)

reachMotorsAngles()

void CscServoInterface::reachMotorsAngles

(

float

directionValues[2]

)

setupSerialStream()

bool CscServoInterface::setupSerialStream	(	FileDesc &	fd,
		const char *	portName
	)

stopAllMovments()

void CscServoInterface::stopAllMovments

(

)

updateRequestedMotorsAngles()

int CscServoInterface::updateRequestedMotorsAngles	(	float	motor0Speed,
		float	motor1Speed
	)

updateStatusAndProcessAction()

void CscServoInterface::updateStatusAndProcessAction

(

)

writePelcoPMessage()

void CscServoInterface::writePelcoPMessage	(	int	movement,
		float	deltaAngleMotor0,
		float	deltaAngleMotor1
	)

writeSerialMessage()

void CscServoInterface::writeSerialMessage	(	int	motor,
		int	targetAngleMotor
	)

writeToRs()

bool CscServoInterface::writeToRs	(	const char *	buffer,
		unsigned int	buf_size
	)

Member Data Documentation

rsFd

int CscServoInterface::rsFd

rsPortName

const char* CscServoInterface::rsPortName

---

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

• SignalEncoder/CscServoInterface.h
• SignalEncoder/CscServoInterface.cpp