Actuators Class Reference

#include <actuators.h>

List of all members.

Public Member Functions
	Actuators ()
	~Actuators ()
void	setStiffness (int jointindex, float value)
void	setStiffnessHead (float value[])
void	setStiffnessAll (float values[])
int	setStiffnessAll (float values[], int time)
void	setStiffnessNotHead (float values[])
void	clearDCM ()
void	resetMotorBoards ()
void	resetChestBoard ()
void	sendFrameToBody (float positions[], float hardnesses[])
void	sendFrameToNotHead (float positions[], float hardnesses[])
int	goToAngle (int jointindex, float position, int time)
int	goToAnglesAll (float positions[], int time)
int	goToAnglesWithVelocityAll (float positions[], float velocity)
int	goToAnglesNotHead (float positions[], int time)
int	goToAnglesWithVelocityNotHead (float positions[], float velocity)
int	goToAngleHeadYaw (float position, int time)
int	goToAngleHeadPitch (float position, int time)
Static Public Attributes
static float	MaxBatteryVoltage = 24654.0

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Constructor & Destructor Documentation

Actuators::Actuators

(

)

Actuators::~Actuators

(

)

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Member Function Documentation

void Actuators::clearDCM

(

)

Clears the targets saved in the dcm

int Actuators::goToAngle	(	int	jointindex,
		float	position,
		int	time
	)

Specify a new joint for a single joint

Parameters:

	jointindex	the index of the joint eg. J_L_ANKLE_PITCH
	position	the new target angle
	time	the time to get to the target position

Note. that successive calls to this function can make a 'motion curve' because existing dcm commands are only erased if they are AFTER the new command. So goToAngle(0, 0, 100) and goToAngle(0, -1, 300) will make the head goto 0 and then to -1

int Actuators::goToAngleHeadPitch	(	float	position,
		int	time
	)

Go to the new head pitch position

Parameters:

	position	the new position in radians
	time	the time to get to that position in milliseconds

Returns:

finishtime the dcmTime the motion will finish. I stress that this is the dcmTime; the dcmTime the motion will finish; the dcmTime.

int Actuators::goToAngleHeadYaw	(	float	position,
		int	time
	)

Go to the new head yaw position

Parameters:

	position	the new position in radians
	time	the time to get to that position in milliseconds

Returns:

finishtime the dcmTime the motion will finish. I stress that this is the dcmTime; the dcmTime the motion will finish; the dcmTime.

int Actuators::goToAnglesAll	(	float	positions[],
		int	time
	)

Go to the new positions at the specified velocity (the aldcm does the interpolation)

Parameters:

	positions[]	the new target positions (must be of length ALIAS_TARGETS_ALL_LENGTH)
	time	the time in ms from now to reach the desired positions

Returns:

finishTime the dcmTime the motion will finish. I stress that this is the dcmTime; the dcmTime the motion will finish; the dcmTime.

int Actuators::goToAnglesNotHead	(	float	positions[],
		int	time
	)

Go to the new positions at the specified velocity (the aldcm does the interpolation)

Parameters:

	positions[]	the new target positions (must be of length ALIAS_TARGETS_NOT_HEAD_LENGTH)
	time	the time in ms from now to reach the desired positions

Returns:

finishTime the dcmTime the motion will finish. I stress that this is the dcmTime; the dcmTime the motion will finish; the dcmTime.

int Actuators::goToAnglesWithVelocityAll	(	float	positions[],
		float	velocity
	)

Go to the new positions at the specified velocity (the aldcm does the interpolation)

Parameters:

	positions[]	the new target positions (must be of length ALIAS_TARGETS_ALL_LENGTH)
	velocity	the velocity in rad/s

Returns:

finishTime the dcmTime the motion will finish. I stress that this is the dcmTime; the dcmTime the motion will finish; the dcmTime.

int Actuators::goToAnglesWithVelocityNotHead	(	float	positions[],
		float	velocity
	)

Go to the new positions at the specified velocity (the aldcm does the interpolation)

Parameters:

	positions[]	the new target positions (must be of length ALIAS_TARGETS_NOT_HEAD_LENGTH)
	velocity	the velocity in rad/s

Returns:

finishTime the dcmTime the motion will finish. I stress that this is the dcmTime; the dcmTime the motion will finish; the dcmTime.

void Actuators::resetChestBoard

(

)

Resets the chest board. Use this if you suspect the chest board is playing up

void Actuators::resetMotorBoards

(

)

Resets the motor boards. Use this to reset all of the motors and hopefully return stiffness

void Actuators::sendFrameToBody	(	float	positions[],
		float	hardnesses[]
	)

Send an entire motion frame to the whole body

Parameters:

	positions[]	the target joint positions for the next dcm cycle (must have length == ALIAS_TARGETS_ALL_LENGTH)
	hardnesses[]	the joint hardnesses for the next dcm cycle (must have length == ALIAS_TARGETS_ALL_LENGTH)

void Actuators::sendFrameToNotHead	(	float	positions[],
		float	hardnesses[]
	)

Send an entire motion frame to the every joint except the head; the head is for Steve :D

Parameters:

	positions[]	the target joint positions for the next dcm cycle (must have length == ALIAS_TARGETS_NOT_HEAD_LENGTH)
	hardnesses[]	the joint hardnesses for the next dcm cycle (must have length == ALIAS_TARGETS_NOT_HEAD_LENGTH)

void Actuators::setStiffness	(	int	jointindex,
		float	value
	)

Set the stiffness (hardness) for a single joint

Parameters:

	jointindex	the index of the joint to change the stiffness for (eg. J_L_ANKLE_PITCH)
	value	the new hardness value

int Actuators::setStiffnessAll	(	float	values[],
		int	time
	)

void Actuators::setStiffnessAll

(

float

values[]

)

Set the stiffness for every joint

Parameters:

values[]

the new hardness values (must be length == ALIAS_HARDNESS_ALL_LENGTH)

void Actuators::setStiffnessHead

(

float

values[]

)

Set the stiffness (hardness) for the two head joints

Parameters:

values[2]

the new stiffness values

void Actuators::setStiffnessNotHead

(

float

values[]

)

Set the stiffness for every joint

Parameters:

values[]

the new hardness values (must be length == ALIAS_HARDNESS_NOT_HEAD_LENGTH)

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Member Data Documentation

float Actuators::MaxBatteryVoltage = 24654.0 [static]

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

• /Users/jason/Code/naowalkoptimiser/src/Locomotion/Walk/actuators.h
• /Users/jason/Code/naowalkoptimiser/src/Locomotion/Walk/actuators.cpp