RoboteqSC Class Reference

List of all members.

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Detailed Description

This class is responsible for opening, reading and controlling the roboteqAX2550 speed controller.

Definition at line 51 of file roboteqSC.h.

Public Types
enum	{ baudrate = B9600 }
	The required baudrate for the speed Controller.
enum	status {   OPEN = 1,   CLOSED = 0,   ERROR = -1 }
	The enumeration for the status of the speed controller. More...
enum	Motor {   MOTOR0 = 0x41,   MOTOR1 = 0x42,   MOTOR0BKW = 0x61,   MOTOR1BKW = 0x62 }
	Enumerations for both of the motors controlled by the speed controller. More...
Public Member Functions
status	getStatus ()
	Get the status of the speed controller.
int	openSC ()
	Open the speed controller so that it can be used.
int	closeSC ()
	Close down the speed controller.
int	setMotorSpeed (int motor, int speed)
	Set the motor speed.
int	getPower (int motor)
	Query the amount of power supplied to a motor.
int	getAmps (int motor)
	Query the amount of amps supplied to a motor.
int	getControllerTemp ()
	Query the temperature of the heatsinks on the speed controller.
int	convertTemp (int input)
	Converts between the raw speed controller output and degrees Cel.
int	applyParam ()
	Apply a parameter change to the robot without restarting.
void	resetController ()
	Reset the speed controller.
int	readParamSetting (int param)
	Read one of the Parameter settings.
int	setParam (int param, int value)
	Set a Param, note many paramets require the controller to be reset.
int	sem_P ()
	enter a semaphore protected body of code
int	sem_V ()
	exit a semaphore protected body of code
int	openCommand ()
	open the controller from being in R/C or analog mode this will put the controller into RS232 watchDog mode
int	getfd ()
	get the file descriptor for the serial connection
Static Public Member Functions
RoboteqSC *	theInstance ()
	The function responsible for gaining access to the instance of the speed controller.
void	watchDog ()
	the watchDog function for the speed controller sends a return character to the speed controller often enough to ensure a constand connection with it.
Protected Member Functions
	RoboteqSC ()
	Constructor for RoboteqSC class.
	~RoboteqSC ()
	Destructor for RoboteqSC class.
Private Attributes
status	SCStatus
	The status for the speed controller.
int	fd
	The file descriptor for the speed controller.
termios	oldttyS
	The old serial port settings.
termios	newttyS
	The new serial port settings.
fd_set	set
	fd_set for waiting for the returns from the controller
timeval	tv
	timeout for waiting for values from the controller
pthread_t	scThread
	thread for the watchdog function
int	roboteqsv
	semaphore data for the speed controller

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Member Enumeration Documentation

enum RoboteqSC::Motor

Enumerations for both of the motors controlled by the speed controller. Enumeration values: MOTOR0  Left Motor forward. MOTOR1  Right Motor forward. MOTOR0BKW  Left Motor Backwards. MOTOR1BKW  Right Motor Backwards. Definition at line 74 of file roboteqSC.h.

enum RoboteqSC::status

The enumeration for the status of the speed controller. Enumeration values: OPEN  The speed controller is opened. CLOSED  The speed controller is closed. ERROR  An error occured during operation. Definition at line 62 of file roboteqSC.h.

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Member Function Documentation

int RoboteqSC::applyParam (   )

Apply a parameter change to the robot without restarting. Return values: 1  on success -1  on failure

int RoboteqSC::closeSC (   )

Close down the speed controller. Return values: 0  on success -1  on error

int RoboteqSC::convertTemp (  int  input  )

Converts between the raw speed controller output and degrees Cel. Parameters: input  - The output from the speed controller range 0 to 255 Return values: The  temp in Cel

int RoboteqSC::getAmps (  int  motor  )

Query the amount of amps supplied to a motor. Parameters: motor  to query 0 for left 1 for right Return values: The  number of amps applied to the motor 0 to 256

int RoboteqSC::getControllerTemp (   )

Query the temperature of the heatsinks on the speed controller. Return values: The  temperature of the heatsinks in Cel

int RoboteqSC::getfd (   )

get the file descriptor for the serial connection Return values: file  descriptor for the serial connection

int RoboteqSC::getPower (  int  motor  )

Query the amount of power supplied to a motor. Parameters: motor  to query 0 for left 1 for right Return values: The  power applied to the motor range 0 to 127

status RoboteqSC::getStatus (   )  [inline]

Get the status of the speed controller. Return values: status  of the speed controller Definition at line 96 of file roboteqSC.h. References SCStatus.

int RoboteqSC::openCommand (   )

open the controller from being in R/C or analog mode this will put the controller into RS232 watchDog mode Return values: 1  on success -1 on error

int RoboteqSC::openSC (   )

Open the speed controller so that it can be used. Return values: 1  on success -1  on error

int RoboteqSC::readParamSetting (  int  param  )

Read one of the Parameter settings. Parameters: param  to be read Return values: The  current state of the param

int RoboteqSC::sem_P (   )

enter a semaphore protected body of code Return values: 1  on success 0 on error

int RoboteqSC::sem_V (   )

exit a semaphore protected body of code Return values: 1  on success 0 on error

int RoboteqSC::setMotorSpeed (  int  motor, int  speed )

Set the motor speed. Parameters: motor  to set the speed on speed  to set the motor to range -127 to 127 motor  to control 0 for left 1 for right Return values: 1  on success -1  on error

int RoboteqSC::setParam (  int  param, int  value )

Set a Param, note many paramets require the controller to be reset. Parameters: param  to modify value  to set the parameter to. Please see the Roboteq documentation for these values Return values: 1  on success -1  on error or if the command value is invalid

RoboteqSC* RoboteqSC::theInstance (   )  [static]

The function responsible for gaining access to the instance of the speed controller. Return values: the  singleton instance of the RoboteqSC

void RoboteqSC::watchDog (   )  [static]

the watchDog function for the speed controller sends a return character to the speed controller often enough to ensure a constand connection with it. If this fuction stops and watchDog is enabled on the speed controller the speed controller will shutdown the motors everytime it does not receive a character in a one second period

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

• roboteqSC.h

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