cDriverServotogo Class Reference
[Devices]
cDriverServotogo offers an interface to the Servo2Go boards.
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#include <CDriverServotogo.h>
Public Member Functions | |
| cDriverServotogo () | |
| Constructor of cDriverServotogo. | |
| ~cDriverServotogo () | |
| Destructor of cDriverServotogo. | |
| virtual int | open () |
| Open connection to Sensoray626 board. | |
| virtual int | close () |
| Close connection to Sensoray626 board. | |
| virtual int | initialize (const bool a_resetEncoders=false) |
| Initialize Sensoray626 board. | |
| virtual int | command (int a_command, void *a_data) |
Detailed Description
cDriverServotogo offers an interface to the Servo2Go boards.Member Function Documentation
| int cDriverServotogo::close | ( | ) | [virtual] |
Close connection to Sensoray626 board.
Sets all DACs to zero
- Returns:
- Return 0 is operation succeeds, -1 if an error occurs.
Reimplemented from cGenericDevice.
| int cDriverServotogo::command | ( | int | a_command, | |
| void * | a_data | |||
| ) | [virtual] |
Send a command to the Servo2Go board. Possible commands are:
CHAI_CMD_GET_DEVICE_STATE: returns an int (1 board is ready, 0 board is NOT ready).
CHAI_CMD_GET_ENCODER_0: reads encoder 0, returns counts value in a long.
CHAI_CMD_GET_ENCODER_1: reads encoder 1, returns counts value in a long.
CHAI_CMD_GET_ENCODER_2: reads encoder 2, returns counts value in a long.
CHAI_CMD_GET_ENCODER_3: reads encoder 3, returns counts value in a long.
CHAI_CMD_GET_ENCODER_4: reads encoder 4, returns counts value in a long, and a value of 0 if the encoder does not exist.
CHAI_CMD_GET_ENCODER_5: reads encoder 5, returns counts value in a long, and a value of 0 if the encoder does not exist.
CHAI_CMD_GET_ENCODER_6: reads encoder 6, returns counts value in a long, and a value of 0 if the encoder does not exist.
CHAI_CMD_GET_ENCODER_7: reads encoder 7, returns counts value in a long, and a value of 0 if the encoder does not exist.
CHAI_CMD_SET_DAC_0: writes a voltage to DAC 0 a value between +10 and -10 volts, which is a double.
CHAI_CMD_SET_DAC_1: writes a voltage to DAC 1 a value between +10 and -10 volts, which is a double.
CHAI_CMD_SET_DAC_2: writes a voltage to DAC 2 a value between +10 and -10 volts, which is a double.
CHAI_CMD_SET_DAC_3: writes a voltage to DAC 3 a value between +10 and -10 volts, which is a double.
CHAI_CMD_SET_DAC_4: writes a voltage to DAC 4 a value between +10 and -10 volts, which is a double. If this axis is not supported no action is taken.
CHAI_CMD_SET_DAC_5: writes a voltage to DAC 5 a value between +10 and -10 volts, which is a double. If this axis is not supported no action is taken.
CHAI_CMD_SET_DAC_6: writes a voltage to DAC 6 a value between +10 and -10 volts, which is a double. If this axis is not supported no action is taken.
CHAI_CMD_SET_DAC_7: writes a voltage to DAC 7 a value between +10 and -10 volts, which is a double. If this axis is not supported no action is taken.
Set command to the Servotogo board.
- Parameters:
-
a_command Selected command. a_data Pointer to the corresponding data structure.
- Returns:
- Return status of command.
Reimplemented from cGenericDevice.
| int cDriverServotogo::initialize | ( | const bool | a_resetEncoders = false |
) | [virtual] |
Initialize Sensoray626 board.
Initializes board. In this implementation there's really nothing to do that hasn't been done in the opening phase.
- Returns:
- Return 0 is operation succeeds, -1 if an error occurs.
Reimplemented from cGenericDevice.
| int cDriverServotogo::open | ( | ) | [virtual] |
Open connection to Sensoray626 board.
Open board.
- Returns:
- Return 0 is operation succeeds, -1 if an error occurs.
Reimplemented from cGenericDevice.
The documentation for this class was generated from the following files:
- D:/CHAI3D/build-2-0-0/2.0.0/win32/src/devices/CDriverServotogo.h
- D:/CHAI3D/build-2-0-0/2.0.0/win32/src/devices/CDriverServotogo.cpp