bhand.h File Reference

#include <string>
#include <SerialInterface.h>
#include <lexcast.h>
#include <configfile.h>
#include <csignal>

Include dependency graph for bhand.h:

This graph shows which files directly or indirectly include this file:

Detailed Description

#define DEFAULT_MAX_TEMP 700

Default maximal allowed Temperature for BarrettHand

#define NUM_MOTORS 4

Number of motors of BarrettHand

enum Motors

Defines the fingers for the BarrettHand.

Enumerator:

Generated Wed Aug 16 14:57:13 2006 by

1.4.7


Data Structures
class	BHand
	Basic class for controlling the BarrettHand. More...
class	BHandException
Defines
#define	DEFAULT_MAX_TEMP 700
#define	NUM_MOTORS 4
Enumerations
enum	GParameter { LOOP_FEEDBACK_TEMP, OVER_TEMP, LOOP_FEEDBACK_DELTA_POS_DISCARD, TEMP, PEAK_TEMP, UPTIME_SECS, SERIAL_NR }
	Global parameters are used to configure or observe the hand as a whole. Large parts copied from BarrettHand users Manual Barrett Technology, Inc . More...
enum	Motors { F1 = 1, F2 = 2, F3 = 4, FINGERS = 7, SPREAD = 8, ALL = 15, F12 = 3, F13 = 5, F23 = 6 }
	Defines the fingers for the BarrettHand. More...
enum	MParameter { DEFAULT_POS, DEFAULT_STEP, MAX_STRAIN, MIN_STRAIN, MAX_OPEN_VEL, MAX_CLOSE_VEL, LOOP_CTRL_VEL, LOOP_CTRL_VEL_COEFF, LOOP_CTRL_PROP_GAIN, LOOP_FEEDBACK_VEL, LOOP_FEEDBACK_VEL_COEFF, LOOP_FEEDBACK_STRAIN, LOOP_FEEDBACK_ABS_POS, LOOP_FEEDBACK_DELTA_POS, LOOP_FEEDBACK_DELTA_POS_COEFF, ODOMETER, POSITION, STATUS, STRAIN }
	Motor parameters change how a motor functions. Large parts copied from BarrettHand users Manual Barrett Technology, Inc . More...