BHand Class Reference
[Module to get "low-level" control of a BarrettHand]

Basic class for controlling the BarrettHand. More...

#include <bhand.h>

Inheritance diagram for BHand:

[legend]Collaboration diagram for BHand:


Public Member Functions
	BHand (const std::string devName)
	Constructor for class BarrettHand.
void	stop ()
	Aborts current motion and returns to supervisory mode when in real time mode.
	~BHand ()
	Destructor for class BarrettHand.
Movement Commands
Movement commands are motor commands: they immediately affect one or more of the motors. Each can take motor parameters.
void	calib (const Motors motors=ALL) throw (BHandException)
	Calibrates the selected motor controller(s), preparing them for use by other movement commands.
void	close (const Motors motors) throw (BHandException)
	Commands the selected motor(s) to move fingers in close direction with a velocity ramp-down at target limit. If selected, each finger moves towards the palm, and the spread motor moves so that fingers F1 and F2 are adjacent to finger F3.
void	closeInc (const Motors motors, const unsigned int distance) throw (BHandException)
	Closes the selected motor(s) the given number of counts.
bool	getRtModeEnabled ()
	Returns if real Time mode is enabled.
void	home (const Motors motors) throw (BHandException)
	Moves the selected motor(s) to position 0.
void	init () throw (BHandException)
	Initializes the communication with the BarrettHand setting the baud rate to 38400 and other required preferences for the serial port.
void	move (const Motors motors, const int distance) throw (BHandException)
	Opens(-) or closes(+) the selected motor(s) the given number of counts.
void	movePos (const Motors motors, const unsigned int pos) throw (BHandException)
	Moves the selected motor(s) to the given position.
void	open (const Motors motors) throw (BHandException)
	Commands the selected motor(s) to move fingers in open direction with a velocity ramp-down at target limits.
void	openInc (const Motors motors, const unsigned int distance) throw (BHandException)
	Opens the selected motor(s) the given number of counts.
void	powerOff (const Motors motors) throw (BHandException)
	Turns the selected motor(s)'s power off.
void	rtMode (const Motors motors) throw (BHandException)
	Enters real Time mode.
void	torqueClose (const Motors motors) throw (BHandException)
	Commands velocity of selected motor(s) in the direction that closes the finger(s) with control of motor torque at stall.
void	torqueOpen (const Motors motors) throw (BHandException)
	Commands velocity of selected motor(s) in the direction that opens the finger(s) with control of motor torque at stall.
Global parameter commands
Global parameter commands configure the hand as a whole, without referencing a particular finger or motor.
unsigned int	getGlobalParam (const GParameter param) throw (BHandException)
	Gets the given parameter's value.
void	loadGlobalParams () throw (BHandException)
	Loads the global parameters from a file.
void	saveGlobalParams () throw (BHandException)
	Saves the global parameters to a file.
void	setFactoryParams () throw (BHandException)
	Sets the writable global parameters back to their factory default values.
void	setGlobalParam (const GParameter param, const unsigned int value) throw (BHandException)
	Sets the given parameter to the given value.
Motor parameter commands
Motor parameter commands act on the configuration parameters for one or more of the motors.
unsigned int	getParam (const int motor, const MParameter param) throw (BHandException)
	Gets the given parameter's value for the selected motor.
void	loadParams () throw (BHandException)
	Loads the motor parameters from a file.
void	saveParams () throw (BHandException)
	Saves the motor parameters to a file.
void	setFactoryParams (const Motors motors) throw (BHandException)
	Sets the selected motor(s)'s parameters back to their factory default values.
void	setParam (const Motors motors, const MParameter param, const unsigned int value) throw (BHandException)
	Sets the given parameter to the given value for the selected motor(s).
Administrative commands
Administrative commands implement various housekeeping functions.
void	reset () throw (BHandException)
	Resets the hand software. Equivalent to doing a power cycle.
Protected Member Functions
void	loadConfigFile ()
	loas the configfile corresponding to the given serial number
Protected Attributes
int	MaxTemp
bool	RtModeEnabled

Detailed Description

Basic class for controlling the BarrettHand.

This class is an encapsulation of the basic features of the GCL Protocol.

Author:: Bernd Roessler

Examples:: main_test.cpp.

Constructor & Destructor Documentation

BHand::BHand ( const std::string devName )

Constructor for class BarrettHand.

Parameters:

devName

Name for the device the BarrettHand is connected to (e.g. /dev/ttyS0).

BHand::~BHand ( )

Destructor for class BarrettHand.

All movement is stopped and the serial connection to the BarrettHand is closed.

Member Function Documentation

void BHand::calib ( const Motors motors = ALL ) throw (BHandException) [inline]

Calibrates the selected motor controller(s), preparing them for use by other movement commands.

calib() must be run before any other movement command if the hand was not calibrated outside of the library. Generally it is run without a motor prefix, calibrating all four motors; although, if desired, a subset of the motors can be specified. After an calib() call, all motors are in their home position; at 0 encoder counts.

Parameters:

motors

motors to initialize (default: ALL)

void BHand::close ( const Motors motors ) throw (BHandException) [inline]

Commands the selected motor(s) to move fingers in close direction with a velocity ramp-down at target limit. If selected, each finger moves towards the palm, and the spread motor moves so that fingers F1 and F2 are adjacent to finger F3.

The close() command is similar to a movePos() command, with the value of the Close Target (CT) motor parameter as the destination. However, unlike the movePos() command, the close() command will not return an ERR32 if it does not reach CT within the maximum position error (MPE) parameter.

Parameters:

motors

motors to move

Examples:: main_test.cpp.

void BHand::closeInc	(	const Motors	motors,
		const unsigned int	distance
	)			throw (BHandException) `[inline]`

Closes the selected motor(s) the given number of counts.

Parameters:

	motors	motors to move
	distance	distance to move (0 to 20000)

unsigned int BHand::getGlobalParam ( const GParameter param ) throw (BHandException)

Gets the given parameter's value.

Parameters:

param

global parameter to be queried

unsigned int BHand::getParam	(	const int	motor,
		const MParameter	param
	)			throw (BHandException)

Gets the given parameter's value for the selected motor.

Note: Only a single motor is accepted as parameter. If more than one motor is given, that one with the lowest number is used.

Parameters:

	motor	single motor for which parameter is requested
	param	motor parameter to be queried

Examples:: main_forceExttest.cc.

bool BHand::getRtModeEnabled ( ) [inline]

Returns if real Time mode is enabled.

Returns:: True if RT Mode is enabled.

void BHand::home ( const Motors motors ) throw (BHandException) [inline]

Moves the selected motor(s) to position 0.

void BHand::init ( ) throw (BHandException)

Initializes the communication with the BarrettHand setting the baud rate to 38400 and other required preferences for the serial port.

init() must be run before any other movement command.

Reimplemented in BHandForce, and BHandForceExt.

Examples:: main_test.cpp.

void BHand::loadConfigFile ( ) [protected]

loas the configfile corresponding to the given serial number

void BHand::loadGlobalParams ( ) throw (BHandException)

Loads the global parameters from a file.

void BHand::loadParams ( ) throw (BHandException)

Loads the motor parameters from a file.

void BHand::move	(	const Motors	motors,
		const int	distance
	)			throw (BHandException) `[inline]`

Opens(-) or closes(+) the selected motor(s) the given number of counts.

Parameters:

	motors	motors to move
	distance	distance to move (-20000 to 20000)

Reimplemented in BHandForce, BHandForceExt, and BHandForceExtKin.

void BHand::movePos	(	const Motors	motors,
		const unsigned int	pos
	)			throw (BHandException) `[inline]`

Moves the selected motor(s) to the given position.

Parameters:

	motors	motors to move
	pos	position where to move (0 to 20000)

Examples:: main_test.cpp.

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void BHand::open ( const Motors motors ) throw (BHandException) [inline]

Commands the selected motor(s) to move fingers in open direction with a velocity ramp-down at target limits.

If selected, F1, F2, and F3 open away from the palm, and the spread motor moves so that fingers F1 and F2 are opposite finger F3.

The open() command is similar to a movePos() command, with the value of the OT motor parameter as the destination. However, unlike the movePos() command, the open() command will not return an ERR32 if it does not reach OT within the maximum position error (MPE) parameter.

Parameters:

motors

motors to move

Examples:: main_compliantfingers.cc, main_forceExttest.cc, and main_test.cpp.

void BHand::openInc	(	const Motors	motors,
		const unsigned int	distance
	)			throw (BHandException) `[inline]`

Opens the selected motor(s) the given number of counts.

Parameters:

	motors	motors to move
	distance	distance to move (0 to 20000)

void BHand::powerOff ( const Motors motors ) throw (BHandException) [inline]

Turns the selected motor(s)'s power off.

Parameters:

motors

motors that should be turned off

void BHand::reset ( ) throw (BHandException) [inline]

Resets the hand software. Equivalent to doing a power cycle.

void BHand::rtMode ( const Motors motors ) throw (BHandException) [inline]

Enters real Time mode.

If Hand is already in real Time Mode nothing will happen!

Reimplemented in BHandExt.

void BHand::saveGlobalParams ( ) throw (BHandException)

Saves the global parameters to a file.

void BHand::saveParams ( ) throw (BHandException)

Saves the motor parameters to a file.

void BHand::setFactoryParams ( ) throw (BHandException) [inline]

Sets the writable global parameters back to their factory default values.

void BHand::setFactoryParams ( const Motors motors ) throw (BHandException) [inline]

Sets the selected motor(s)'s parameters back to their factory default values.

Parameters:

motors

motors for which parameters should be set

void BHand::setGlobalParam	(	const GParameter	param,
		const unsigned int	value
	)			throw (BHandException) `[inline]`

Sets the given parameter to the given value.

Parameters:

	param	global parameter to be set
	value	value for global parameter

void BHand::setParam	(	const Motors	motors,
		const MParameter	param,
		const unsigned int	value
	)			throw (BHandException) `[inline]`

Sets the given parameter to the given value for the selected motor(s).

Parameters:

	motors	motors for which the parameters should be set
	param	motor parameter to be set
	value	value for motor paramter

void BHand::stop ( ) [inline]

Aborts current motion and returns to supervisory mode when in real time mode.

Examples:: main_compliantfingers.cc, main_forceExttest.cc, and main_test.cpp.

void BHand::torqueClose ( const Motors motors ) throw (BHandException) [inline]

Commands velocity of selected motor(s) in the direction that closes the finger(s) with control of motor torque at stall.

Parameters:

motors

motors to move

void BHand::torqueOpen ( const Motors motors ) throw (BHandException) [inline]

Commands velocity of selected motor(s) in the direction that opens the finger(s) with control of motor torque at stall.

Parameters:

motors

motors to move

Field Documentation

int BHand::MaxTemp [protected]

Maximal allowed Temperature for Hand

bool BHand::RtModeEnabled [protected]

Contains weather real Time mode is enabled or not.

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

bhand.h
bhand.cpp

Tim Baier bhandlib v0.25

Generated Wed Aug 16 14:58:35 2006 by

1.4.7

BHand Class Reference [Module to get "low-level" control of a BarrettHand]

Public Member Functions

Protected Member Functions

Protected Attributes

Detailed Description

Constructor & Destructor Documentation

Member Function Documentation

Field Documentation

BHand Class Reference
[Module to get "low-level" control of a BarrettHand]