Fawkes API  Fawkes Development Version
KatanaMotorControlThread Class Reference

Katana motor control thread. More...

#include "goto_thread.h"

Inheritance diagram for KatanaMotorControlThread:

List of all members.

Public Member Functions

 KatanaMotorControlThread (fawkes::RefPtr< fawkes::KatanaController > katana, fawkes::Logger *logger, unsigned int poll_interval_ms)
 Constructor.
virtual void set_encoder (unsigned int nr, int value, bool inc=false)
 Set target encoder value.
virtual void set_angle (unsigned int nr, float value, bool inc=false)
 Set target angle value.
virtual void once ()
 Execute an action exactly once.

Protected Member Functions

virtual void run ()
 Stub to see name in backtrace for easier debugging.

Detailed Description

Katana motor control thread.

This thread moves a single motor to/by a given value in encoders or angle.

Author:
Bahram Maleki-Fard

Constructor & Destructor Documentation

KatanaMotorControlThread::KatanaMotorControlThread ( fawkes::RefPtr< fawkes::KatanaController katana,
fawkes::Logger logger,
unsigned int  poll_interval_ms 
)

Constructor.

Parameters:
katanakatana controller base class
loggerlogger
poll_interval_msinterval in ms between two checks if the final position has been reached

Definition at line 41 of file motor_control_thread.cpp.


Member Function Documentation

void KatanaMotorControlThread::once ( ) [virtual]

Execute an action exactly once.

This code is executed once and only once right after the thread is started before loop() is called. This is useful if you want to implement an one-shot background job. Just implement once() and leave once() untouched. Start the thread and detach it and it will just do its job and then die automatically. If you use set_delete_on_exit(true) even the Thread instance will be automatically deleted.

Reimplemented from fawkes::Thread.

Definition at line 82 of file motor_control_thread.cpp.

References KatanaMotionThread::_katana, KatanaMotionThread::_logger, fawkes::Logger::log_warn(), fawkes::Exception::what(), KatanaMotionThread::_finished, KatanaMotionThread::_error_code, fawkes::Logger::log_debug(), and fawkes::Thread::name().

virtual void KatanaMotorControlThread::run ( ) [inline, protected, virtual]

Stub to see name in backtrace for easier debugging.

See also:
Thread::run()

Reimplemented from fawkes::Thread.

Definition at line 41 of file motor_control_thread.h.

void KatanaMotorControlThread::set_angle ( unsigned int  nr,
float  value,
bool  inc = false 
) [virtual]

Set target angle value.

Parameters:
nrnumber of motor
valueangle value
incis value incremental? deault:false -> absolute

Definition at line 71 of file motor_control_thread.cpp.

void KatanaMotorControlThread::set_encoder ( unsigned int  nr,
int  value,
bool  inc = false 
) [virtual]

Set target encoder value.

Parameters:
nrnumber of motor
valueencoder value
incis value incremental? deault:false -> absolute

Definition at line 56 of file motor_control_thread.cpp.


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