#include <mirob.h>

Inheritance diagram for Mirob:

Collaboration diagram for Mirob:

Public Member Functions
	Mirob (const string &device)

	Mirob (void)

	~Mirob (void)

virtual int	open (const string &device) override

virtual bool	isOpen (void) const

virtual void	close (void)

virtual int	reset (void)

virtual int	stepX (double x)

virtual int	stepY (double y)

virtual int	stepZ (double z)

virtual double	posX (void) const

virtual double	posY (void) const

virtual double	posZ (void) const

virtual int	clear (int axis)

virtual int	clearX (void)

virtual int	clearY (void)

virtual int	clearZ (void)

virtual int	clear (void)

virtual int	homeX (void)

virtual int	homeY (void)

virtual int	homeZ (void)

virtual int	home (void)

virtual int	setAmplX (double posampl, double negampl=-1.0)

virtual int	setAmplY (double posampl, double negampl=-1.0)

virtual int	setAmplZ (double posampl, double negampl=-1.0)

virtual double	minAmplX (void) const

virtual double	maxAmplX (void) const

int	setV (double vx, double vy, double vz)

int	getV (double &vx, double &vy, double &vz)

int	setV (double v, int ax)

int	setVX (double v)

int	setVY (double v)

int	setVZ (double v)

int	absPos (double x, double y, double z, double speed)

int	step (double dx, double dy, double dz, double v, bool wait)

int	clampTool (void)

int	releaseTool (void)

int	startRecording (void)

int	recordStep (void)

int	stopRecording (void)

int	executeRecordedTrajectory (double speed, bool forward, bool wait)

int	gotoNegLimitsAndSetHome (void)

int	recordPosition (void)

int	clearPositions (void)

int	makePositionsForbiddenZone (void)

int	restartWatchdog (void)

void	setGUICallback (GUICallback *gcb)

int	stop (void)

Public Member Functions inherited from Manipulator
	Manipulator (void)

	Manipulator (const string &deviceclass)

virtual	~Manipulator (void)

virtual double	minAmplY (void) const

virtual double	maxAmplY (void) const

virtual double	minAmplZ (void) const

virtual double	maxAmplZ (void) const

Detailed Description

[Manipulator] The Mirob module linear robot from MPH

Author: Jan Benda/ Fabian Sinz

Version: 1.0

Constructor & Destructor Documentation

Mirob ( const string & device )

References Mirob::open().

Mirob ( void )

~Mirob ( void )

References Mirob::close().

Member Function Documentation

int open ( const string & device )

overridevirtual

References watchdog_data::active, watchdog_data::Baudrate, watchdog_data::ChannelType, watchdog_data::Device, watchdog_data::forbiddenZones, watchdog_data::gcb, watchdog_data::HostID, watchdog_data::setNegLimitAsHome, watchdog_data::SetupFile, watchdog_data::sleeptime, and misc::watchdog().

Referenced by Mirob::Mirob().

virtual bool isOpen ( void ) const

inlinevirtual

void close ( void )

virtual

References misc::watchdog().

Referenced by Mirob::~Mirob().

int reset ( void )

virtual

int stepX ( double x )

virtual

Move x-axis by x. Depending on the implementation x can be raw steps or a specific distance or angle.

Reimplemented from Manipulator.

References Mirob::step().

Referenced by Mirob::homeX().

int stepY ( double y )

virtual

Move y-axis by y. Depending on the implementation y can be raw steps or a specific distance or angle.

Reimplemented from Manipulator.

References Mirob::step().

Referenced by Mirob::homeY().

int stepZ ( double z )

virtual

Move z-axis by z. Depending on the implementation z can be raw steps or a specific distance or angle.

Reimplemented from Manipulator.

References Mirob::step().

Referenced by Mirob::homeZ().

double posX ( void ) const

virtual

Return the position of the x-axis. Depending on the implementation this can be raw steps or a specific distance or angle.

Reimplemented from Manipulator.

Referenced by Mirob::absPos(), Mirob::homeX(), Mirob::recordPosition(), Mirob::recordStep(), and Mirob::startRecording().

double posY ( void ) const

virtual

Return the position of the y-axis. Depending on the implementation this can be raw steps or a specific distance or angle.

Reimplemented from Manipulator.

Referenced by Mirob::absPos(), Mirob::homeY(), Mirob::recordPosition(), Mirob::recordStep(), and Mirob::startRecording().

double posZ ( void ) const

virtual

Return the position of the z-axis. Depending on the implementation this can be raw steps or a specific distance or angle.

Reimplemented from Manipulator.

Referenced by Mirob::absPos(), Mirob::homeZ(), Mirob::recordPosition(), Mirob::recordStep(), and Mirob::startRecording().

int clear ( int axis )

virtual

Defines the current position of the axis as its home position.

int clearX ( void )

virtual

Defines the current position of the x axis as the home position.

Reimplemented from Manipulator.

References Mirob::clear().

Referenced by Mirob::clear().

int clearY ( void )

virtual

Defines the current position of the y axis as the home position.

Reimplemented from Manipulator.

References Mirob::clear().

Referenced by Mirob::clear().

int clearZ ( void )

virtual

Defines the current position of the z axis as the home position.

Reimplemented from Manipulator.

References Mirob::clear().

Referenced by Mirob::clear().

int clear ( void )

virtual

Defines the current position of all axis as the home position.

Reimplemented from Manipulator.

References Mirob::clearX(), Mirob::clearY(), and Mirob::clearZ().

Referenced by Mirob::clearX(), Mirob::clearY(), and Mirob::clearZ().

int homeX ( void )

virtual

Move x axis back to its home position.

Reimplemented from Manipulator.

References Mirob::posX(), and Mirob::stepX().

Referenced by Mirob::home().

int homeY ( void )

virtual

Move y axis back to its home position.

Reimplemented from Manipulator.

References Mirob::posY(), and Mirob::stepY().

Referenced by Mirob::home().

int homeZ ( void )

virtual

Move z axis back to its home position.

Reimplemented from Manipulator.

References Mirob::posZ(), and Mirob::stepZ().

Referenced by Mirob::home().

int home ( void )

virtual

Move back to the home position.

Reimplemented from Manipulator.

References Mirob::homeX(), Mirob::homeY(), and Mirob::homeZ().

int setAmplX	(	double	posampl,
		double	negampl = `-1.0`
	)

virtual

Set the amplitude of a step of the x-axis to posampl. If negampl >= 0.0 set the negative amplitude to negampl, otherwise set it equal to posampl.

Reimplemented from Manipulator.

int setAmplY	(	double	posampl,
		double	negampl = `-1.0`
	)

virtual

Set the amplitude of a step of the y-axis to posampl. If negampl >= 0.0 set the negative amplitude to negampl, otherwise set it equal to posampl.

Reimplemented from Manipulator.

int setAmplZ	(	double	posampl,
		double	negampl = `-1.0`
	)

virtual

Set the amplitude of a step of the z-axis to posampl. If negampl >= 0.0 set the negative amplitude to negampl, otherwise set it equal to posampl.

Reimplemented from Manipulator.

double minAmplX ( void ) const

virtual

The minimum possible amplitude for the x-axis.

Reimplemented from Manipulator.

double maxAmplX ( void ) const

virtual

The maximum possible amplitude for the x-axis.

Reimplemented from Manipulator.