CQEMotorTraj allows the regular motors in ports 13, 14, 15 and 16 to have their position controlled via smooth controlled motion. More...

#include <qemotortraj.h>

Inheritance diagram for CQEMotorTraj:

List of all members.

Public Member Functions
	SINGLETON (CQEMotorTraj)
	This internal macro handles instantiation of this class.
bool	Done (unsigned int axis)
	Checks to see if the given axis is done with the last Move command.
void	Stop (unsigned int axis)
	Stop the last move command.
virtual void	Move (unsigned int axis, Axis_position endPosition, int velocity, unsigned int acceleration, bool absolute=false)
	Initiate motor movement with trapezoid trajectory and position endpoint.
virtual void	MoveVelocity (unsigned int axis, int velocity, unsigned int acceleration)
	Initiate a motor movement with specified velocity.
virtual void	Record ()
	Begin recording and storing positions of axes for later playback.
virtual void	Play ()
	Begin playback of recorded movements.
Protected Member Functions
	CQEMotorTraj ()
	~CQEMotorTraj ()
void	TrapezoidTrajectory ()
void	RecordTrajectory ()
void	WriteTrajectory ()
void	ReadPosition ()
Static Protected Member Functions
static void *	TrajThread (void *arg)
Protected Attributes
bool	m_threadRun
pthread_mutex_t	m_mutex
pthread_cond_t	m_cond
pthread_t	m_thread
unsigned char	m_operAxes
unsigned short	m_trajectory
unsigned short	m_velocityTrajectory
long long	m_trajectoryEndPosition [QEMOT_NUM_MOTORS]
int	m_trajectoryVelocity [QEMOT_NUM_MOTORS]
unsigned int	m_trajectoryAcceleration [QEMOT_NUM_MOTORS]
int	m_generatedTrajectoryVelocity [QEMOT_NUM_MOTORS]
int	m_generatedTrajectoryVelocityUs [QEMOT_NUM_MOTORS]
long long	m_generatedTrajectoryPosition [QEMOT_NUM_MOTORS]
Axis_position	m_generatedTrajectoryPositionUs [QEMOT_NUM_MOTORS]
int	m_accIntegral [QEMOT_NUM_MOTORS]
Axis_position	m_readPositionUs [QEMOT_NUM_MOTORS]

Detailed Description

CQEMotorTraj allows the regular motors in ports 13, 14, 15 and 16 to have their position controlled via smooth controlled motion.

This motion is called a "trapezoid" trajectory with a constant acceleration at the beginning of the trajectory, a constant desired maximum velocity in the middle, and a constant desired maximum deceleration to the goal position at the end of the trajectory. To instantiate this class:

 // by pointer
 CQEMotorTraj *pmt = CQEMotorTraj::GetPtr(); 
 // or by reference
 CQEMotorTraj &mt = CQEMotorTraj::GetRef();

And when done with this class, call Release(), for each call to GetPtr() or GetRef():

 CQEMotorTraj::Release();

Constructor & Destructor Documentation

CQEMotorTraj::CQEMotorTraj ( ) [protected]

CQEMotorTraj::~CQEMotorTraj ( ) [protected]

Member Function Documentation

bool CQEMotorTraj::Done ( unsigned int axis )

Checks to see if the given axis is done with the last Move command.

Parameters:

axis

the axis in question, either 0, 1, 2, or 3, corresponding to motor ports 13, 14, 15, and 16, respectively.

Returns:: true if move is done, false otherwise.

void CQEMotorTraj::Move	(	unsigned int	axis,
		Axis_position	endPosition,
		int	velocity,
		unsigned int	acceleration,
		bool	absolute = `false`
	)			`[virtual]`

Initiate motor movement with trapezoid trajectory and position endpoint.

A trapezoid trajectory starts with a constant acceleration at the beginning of the trajectory, a constant desired maximum velocity in the middle, and a constant desired maximum deceleration to the goal position at the end of the trajectory. The units for these values (position, velocity, acceleration) are in ticks, ticks/s and ticks/s/s, where ticks are an angular unit based on the back-emf constant of the motor. In general, if you wish to obtain real units such as meters, millimeters, degrees, radians, etc., you need to perform a simple calibration to determine the correct scaling constant for your system, such as ticks/meter, ticks/millimeter, ticks/degree, or ticks/radian depending on what you need/prefer.

Parameters:

	axis	the axis in question, either 0, 1, 2, or 3, corresponding to motor ports 13, 14, 15, and 16, respectively.
	endPosition	goal position of axis, can be positive or negative.
	velocity	desired maximum velocity.
	acceleration	desired acceleration/deceleration, strictly positive value.
	absolute	this value determines if the endPosition value is relative to the current position or if the endPosition is relative to a fixed origin (zero position)-- if it is true it is relative to a fixed origin and if it is false it is relative to the current position of the motor.

void CQEMotorTraj::MoveVelocity	(	unsigned int	axis,
		int	velocity,
		unsigned int	acceleration
	)			`[virtual]`

Initiate a motor movement with specified velocity.

If the current motor velocity is not equal to the specified velocity, the motor will either accelerate or decelerate with the specified acceleration to the specified velocity.

Parameters:

	axis	the axis in question, either 0, 1, 2, or 3, corresponding to motor ports 13, 14, 15, and 16, respectively.
	velocity	the desired velocity, can be positive or negative.
	acceleration	desired acceleration/deceleration, strictly positive value.

void CQEMotorTraj::Play ( ) [virtual]

Begin playback of recorded movements.

See Record(). This method does not block.

Reimplemented from CQEMotorRec.

void CQEMotorTraj::ReadPosition ( ) [protected]

void CQEMotorTraj::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 from CQEMotorRec.

void CQEMotorTraj::RecordTrajectory ( ) [protected]

CQEMotorTraj::SINGLETON ( CQEMotorTraj )

This internal macro handles instantiation of this class.

void CQEMotorTraj::Stop ( unsigned int axis )

Stop the last move command.

Parameters:

axis

the axis in question, either 0, 1, 2, or 3, corresponding to motor ports 13, 14, 15, and 16, respectively.

void * CQEMotorTraj::TrajThread ( void * arg ) [static, protected]