CQEMotorRec records motor movement of regular motors in ports 13, 14, 15 and 16 for later recall and playback. More...
#include <qemotorrec.h>
Inheritance diagram for CQEMotorRec:
Public Member Functions | |
| CQEMotorRec (unsigned long size=0, unsigned char axes=0, pthread_mutex_t *pMutex=NULL) | |
| virtual | ~CQEMotorRec () |
| void | Init (unsigned long size, unsigned char axes, pthread_mutex_t *pMutex) |
| virtual void | Record () |
| Begin recording and storing positions of axes for later playback. | |
| virtual void | Play () |
| Begin playback of recorded movements. | |
| void | RStop () |
| Stop recording or playback if they are currently running. | |
| bool | Playing () |
| Get play status. | |
| bool | Recording () |
| Get record status. | |
Protected Member Functions | |
| bool | UpdatePosition () |
| bool | RecordActive () |
| bool | RecordServo () |
| void | RecordUpdate (Axis_position position[], Axis_position desiredPosition[]) |
| short * | SetPlay () |
| short * | GetRecord () |
Protected Attributes | |
| short * | m_pdata |
| unsigned long | m_readIndex |
| unsigned long | m_writeIndex |
| unsigned long | m_size |
| unsigned char | m_axes |
| Axis_position | m_recIntegral [QEMOT_NUM_MOTORS] |
| ERBState | m_state |
| bool | m_servo |
| pthread_mutex_t * | m_pMutex |
Detailed Description
CQEMotorRec records motor movement of regular motors in ports 13, 14, 15 and 16 for later recall and playback.
Constructor & Destructor Documentation
| CQEMotorRec::CQEMotorRec | ( | unsigned long | size = 0, |
|
| unsigned char | axes = 0, |
|||
| pthread_mutex_t * | pMutex = NULL | |||
| ) |
| CQEMotorRec::~CQEMotorRec | ( | ) | [virtual] |
Member Function Documentation
| short * CQEMotorRec::GetRecord | ( | ) | [protected] |
| void CQEMotorRec::Init | ( | unsigned long | size, | |
| unsigned char | axes, | |||
| pthread_mutex_t * | pMutex | |||
| ) |
| void CQEMotorRec::Play | ( | ) | [virtual] |
Begin playback of recorded movements.
See Record(). This method does not block.
Reimplemented in CQEMotorTraj.
| bool CQEMotorRec::Playing | ( | ) |
Get play status.
- Returns:
- true if playing, false otherwise.
| void CQEMotorRec::Record | ( | ) | [virtual] |
Begin recording and storing positions of axes for later playback.
This method is useful if the axes can be easily back-driven, in which case the axes can be "taught" by hand and later the movements can be recalled with Play().
Reimplemented in CQEMotorTraj.
| bool CQEMotorRec::RecordActive | ( | ) | [protected] |
| bool CQEMotorRec::Recording | ( | ) |
Get record status.
- Returns:
- true if recording, false otherwise.
| bool CQEMotorRec::RecordServo | ( | ) | [protected] |
| void CQEMotorRec::RecordUpdate | ( | Axis_position | position[], | |
| Axis_position | desiredPosition[] | |||
| ) | [protected] |
| void CQEMotorRec::RStop | ( | ) |
Stop recording or playback if they are currently running.
| short * CQEMotorRec::SetPlay | ( | ) | [protected] |
| bool CQEMotorRec::UpdatePosition | ( | ) | [protected] |
Member Data Documentation
unsigned char CQEMotorRec::m_axes [protected] |
short* CQEMotorRec::m_pdata [protected] |
pthread_mutex_t* CQEMotorRec::m_pMutex [protected] |
unsigned long CQEMotorRec::m_readIndex [protected] |
Axis_position CQEMotorRec::m_recIntegral[QEMOT_NUM_MOTORS] [protected] |
bool CQEMotorRec::m_servo [protected] |
unsigned long CQEMotorRec::m_size [protected] |
ERBState CQEMotorRec::m_state [protected] |
unsigned long CQEMotorRec::m_writeIndex [protected] |
The documentation for this class was generated from the following files:
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