PhysicalLinearActuator Class Reference

#include <PhysicalLinearActuator.h>

Collaboration diagram for PhysicalLinearActuator:

[legend]List of all members.

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Detailed Description

Class to interact with actual linear actuators

Definition at line 35 of file PhysicalLinearActuator.h.

Public Member Functions
	PhysicalLinearActuator ()
	~PhysicalLinearActuator ()
int	TravelDistance (double param_distance)
int	TravelPosition (double param_position)
int	SetVelocity (double velocity)
int	StartJog (int direction)
int	Stop ()
int	Initialize (int action, char *port)
int	Deinitialize ()
double	QueryCurrentPosition ()
Private Attributes
int	LinearActuatorDescription
char *	SerialNumber
char *	portfn
int	portfd
double	UpperLimit
double	LowerLimit
double	Travel
int	MaxTravelTime
double	CurrentPosition
double	PositionVelocity
int	PositionAcceleration
int	PositionDeceleration
int	JogVelocity
int	JogAcceleration
double	param_distance
double	param_position
la_t	la
Friends
class	LinearActuator

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Constructor & Destructor Documentation

PhysicalLinearActuator::PhysicalLinearActuator (   )

Default Constructor Definition at line 21 of file PhysicalLinearActuator.cpp. References la_t::jogacc, la_t::jogvel, la, la_t::mtt, la_t::portfd, la_t::posacc, la_t::posdec, and la_t::posvel.

PhysicalLinearActuator::~PhysicalLinearActuator (   )

Default Deconstructor Definition at line 30 of file PhysicalLinearActuator.cpp.

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Member Function Documentation

int PhysicalLinearActuator::Deinitialize (   )

Deinitialize the linear actuator Definition at line 382 of file PhysicalLinearActuator.cpp. References portfd. Referenced by LinearActuator::Deinitialize().

int PhysicalLinearActuator::Initialize (  int  action, char *  port )

Initialize the linear actuator(s) Definition at line 142 of file PhysicalLinearActuator.cpp. References la_t::curpos, CurrentPosition, hear(), la_t::hi_l, init_serial(), la_t::jogacc, la_t::jogvel, la, LAIT_SLIM, la_t::lo_l, LowerLimit, la_t::mtt, la_t::portfd, la_t::portfn, la_t::posacc, la_t::posdec, la_t::posvel, say(), Travel, la_t::travel, and UpperLimit. Referenced by LinearActuator::Initialize().

double PhysicalLinearActuator::QueryCurrentPosition (   )

gives the current postion of the LinearActuator (inches) Definition at line 392 of file PhysicalLinearActuator.cpp. References CurrentPosition, hear(), la, la_t::portfd, and say(). Referenced by LinearActuator::GetCurrentPosition(), and LinearActuator::TravelDistanceChecks().

int PhysicalLinearActuator::SetVelocity (  double  velocity  )

velocity represents velocity range from 0-50 Definition at line 83 of file PhysicalLinearActuator.cpp. References la, la_t::portfd, and say(). Referenced by LinearActuator::SetVelocity().

int PhysicalLinearActuator::StartJog (  int  direction  )

Start linear actuator jog Definition at line 96 of file PhysicalLinearActuator.cpp. References hear(), la, la_t::portfd, and say(). Referenced by LinearActuator::StartJog().

int PhysicalLinearActuator::Stop (   )

Stop the linear actuator Definition at line 115 of file PhysicalLinearActuator.cpp. References la, la_t::portfd, and say(). Referenced by LinearActuator::Stop().

int PhysicalLinearActuator::TravelDistance (  double  param_distance  )

param_distance double representing the desired travel distance and direction (inches) Definition at line 41 of file PhysicalLinearActuator.cpp. References la, la_t::portfd, and say(). Referenced by LinearActuator::TravelDistanceChecks(), and LinearActuator::TravelDistanceLimits().

int PhysicalLinearActuator::TravelPosition (  double  param_position  )

param_position double representing the desired position to move to (inches) Definition at line 64 of file PhysicalLinearActuator.cpp. References la, LowerLimit, la_t::portfd, say(), and Travel. Referenced by LinearActuator::TravelPosition().

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Friends And Related Function Documentation

friend class LinearActuator [friend]

Definition at line 91 of file PhysicalLinearActuator.h.

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Member Data Documentation

double PhysicalLinearActuator::CurrentPosition [private]

Definition at line 101 of file PhysicalLinearActuator.h. Referenced by Initialize(), and QueryCurrentPosition().

int PhysicalLinearActuator::JogAcceleration [private]

Definition at line 106 of file PhysicalLinearActuator.h.

int PhysicalLinearActuator::JogVelocity [private]

Definition at line 105 of file PhysicalLinearActuator.h.

la_t PhysicalLinearActuator::la [private]

Definition at line 109 of file PhysicalLinearActuator.h. Referenced by Initialize(), PhysicalLinearActuator(), QueryCurrentPosition(), SetVelocity(), StartJog(), Stop(), TravelDistance(), and TravelPosition().

int PhysicalLinearActuator::LinearActuatorDescription [private]

Definition at line 93 of file PhysicalLinearActuator.h.

double PhysicalLinearActuator::LowerLimit [private]

Definition at line 98 of file PhysicalLinearActuator.h. Referenced by Initialize(), LinearActuator::TravelDistanceChecks(), and TravelPosition().

int PhysicalLinearActuator::MaxTravelTime [private]

Definition at line 100 of file PhysicalLinearActuator.h.

double PhysicalLinearActuator::param_distance [private]

Definition at line 107 of file PhysicalLinearActuator.h.

double PhysicalLinearActuator::param_position [private]

Definition at line 108 of file PhysicalLinearActuator.h.

int PhysicalLinearActuator::portfd [private]

Definition at line 96 of file PhysicalLinearActuator.h. Referenced by Deinitialize().

char* PhysicalLinearActuator::portfn [private]

Definition at line 95 of file PhysicalLinearActuator.h.

int PhysicalLinearActuator::PositionAcceleration [private]

Definition at line 103 of file PhysicalLinearActuator.h.

int PhysicalLinearActuator::PositionDeceleration [private]

Definition at line 104 of file PhysicalLinearActuator.h.

double PhysicalLinearActuator::PositionVelocity [private]

Definition at line 102 of file PhysicalLinearActuator.h.

char* PhysicalLinearActuator::SerialNumber [private]

Definition at line 94 of file PhysicalLinearActuator.h.

double PhysicalLinearActuator::Travel [private]

Definition at line 99 of file PhysicalLinearActuator.h. Referenced by Initialize(), and TravelPosition().

double PhysicalLinearActuator::UpperLimit [private]

Definition at line 97 of file PhysicalLinearActuator.h. Referenced by Initialize(), and LinearActuator::TravelDistanceChecks().

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

• PhysicalLinearActuator.h
• PhysicalLinearActuator.cpp

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