#include <ArP2Arm.h>
ArP2Arm is the interface to the AROS/P2OS-based Pioneer 2 Arm servers. The P2 Arm is attached to the robot's microcontroller via an auxiliary serial port.
To use ArmP2, you must first set up an ArRobot and have it connect with the robot. The ArRobot needs to be run so that it reads and writes packets to and from server. The easiest way is ArRobot::runAsync() which runs the ArRobot in its own thread.
Then call ArP2Arm::setRobot() with ArRobot, and finally initialized with ArmP2::init(). Once initialized, use the various ArP2Arm methods to power the P2 Arm servos, move joints, and so on.
For simple examples on how to use ArP2Arm, look in the Aria/examples directory for P2ArmSimple.cpp and P2ArmJoydrive.cpp.
See the Aria documentation on how to use Aria.
Public Types | |
| enum | PacketType { StatusPacket, InfoPacket } |
| Type of arm packet identifiers. Used in ArP2Arm::setPacketCB(). More... | |
| enum | State { SUCCESS, ALREADY_INITED, NOT_INITED, ROBOT_NOT_SETUP, NO_ARM_FOUND, COMM_FAILED, COULD_NOT_OPEN_PORT, COULD_NOT_SET_UP_PORT, ALREADY_CONNECTED, NOT_CONNECTED, INVALID_JOINT, INVALID_POSITION } |
| General error conditions possible from most of the arm related functions. More... | |
| enum | StatusType { StatusOff = 0, StatusSingle = 1, StatusContinuous = 2 } |
| Type of status packets to request for. Used in ArP2Arm::requestStatus(). More... | |
Public Member Functions | |
| ArP2Arm () | |
| Constructor. | |
| virtual State | checkArm (bool waitForResponse=true) |
| Check to see if the arm is still connected. | |
| virtual bool | convertDegToTicks (int joint, float pos, unsigned char *ticks) |
| Converts degrees to low level arm controller ticks. | |
| virtual bool | convertTicksToDeg (int joint, unsigned char pos, float *degrees) |
| Converts low level arm controller ticks to degrees. | |
| virtual std::string | getArmVersion () |
| Get the arm version. | |
| virtual P2ArmJoint * | getJoint (int joint) |
| Get the joints data structure. | |
| virtual float | getJointPos (int joint) |
| Get the joints position in degrees. | |
| virtual unsigned char | getJointPosTicks (int joint) |
| Get the joints position in ticks. | |
| virtual ArTime | getLastStatusTime () |
| Get when the last arm status packet came in. | |
| virtual bool | getMoving (int joint=-1) |
| Check to see if the arm is moving. | |
| virtual ArRobot * | getRobot () |
| Get the robot that the arm is on. | |
| virtual int | getStatus () |
| Get the two byts of status info from P2OS. | |
| virtual State | home (int joint=-1) |
| Home the arm. | |
| virtual State | init () |
| Init the arm class. | |
| virtual bool | isGood () |
| Check to see if the arm is communicating. | |
| virtual bool | isPowered () |
| Check to see if the arm is powered. | |
| virtual State | moveStep (int joint, float pos, unsigned char vel=0) |
| Move a joint step degrees. | |
| virtual State | moveStepTicks (int joint, signed char pos) |
| Move a joint step ticks. | |
| virtual State | moveTo (int joint, float pos, unsigned char vel=0) |
| Move a joint to a position in degrees. | |
| virtual State | moveToTicks (int joint, unsigned char pos) |
| Move a joint to a position in low level arm controller ticks. | |
| virtual State | moveVel (int joint, int vel) |
| Set the joint to move at the given velocity. | |
| virtual State | park () |
| Home the arm and power if off. | |
| virtual State | powerOff () |
| Power off the arm. | |
| virtual State | powerOn (bool doWait=true) |
| Power on the arm. | |
| virtual State | requestInfo () |
| Request the arm info packet. | |
| virtual State | requestInit () |
| Request arm initialization. | |
| virtual State | requestStatus (StatusType status) |
| Request the arm status packet. | |
| virtual State | setAutoParkTimer (int waitSecs) |
| Set the auto park timer value. | |
| virtual State | setGripperParkTimer (int waitSecs) |
| Set the gripper park timer value. | |
| virtual void | setPacketCB (ArFunctor1< PacketType > *func) |
| set the arm packet callback | |
| void | setRobot (ArRobot *robot) |
| Set the robot to use to talk to the arm. | |
| virtual void | setStoppedCB (ArFunctor *func) |
| Set the arm stopped callback. | |
| virtual State | stop () |
| Stop the arm. | |
| virtual State | uninit () |
| Uninit the arm class. | |
| virtual | ~ArP2Arm () |
| Destructor. | |
Static Public Attributes | |
| static const int | ArmGood |
| Bit for arm good state in arm status byte. | |
| static const int | ArmHoming |
| Bit for arm homing in arm status byte. | |
| static const int | ArmInited |
| Bit for arm initialized in arm status byte. | |
| static const int | ArmJoint1 |
| Bit for joint 1 in arm status byte. | |
| static const int | ArmJoint2 |
| Bit for joint 2 in arm status byte. | |
| static const int | ArmJoint3 |
| Bit for joint 3 in arm status byte. | |
| static const int | ArmJoint4 |
| Bit for joint 4 in arm status byte. | |
| static const int | ArmJoint5 |
| Bit for joint 5 in arm status byte. | |
| static const int | ArmJoint6 |
| Bit for joint 6 in arm status byte. | |
| static const int | ArmPower |
| Bit for arm powered on in arm status byte. | |
| static int | NumJoints |
| Number of joints that the arm has. | |
Protected Member Functions | |
| bool | armPacketHandler (ArRobotPacket *packet) |
| bool | comArmAutoPark (int waitSecs) |
| bool | comArmCheckArm () |
| bool | comArmGripperPark (int waitSecs) |
| bool | comArmHome (unsigned char joint=0xff) |
| bool | comArmInfo () |
| bool | comArmInit () |
| bool | comArmPark () |
| bool | comArmPos (unsigned char joint, unsigned char pos) |
| bool | comArmPower (bool on) |
| bool | comArmSpeed (unsigned char joint, unsigned char speed) |
| bool | comArmStats (StatusType stats=StatusSingle) |
| bool | comArmStop (unsigned char joint=0xff) |
Protected Attributes | |
| ArRetFunctorC< State, ArP2Arm > | myAriaUninitCB |
|
ArRetFunctor1C< bool, ArP2Arm, ArRobotPacket * > | myArmPacketHandler |
| ArSerialConnection | myCon |
| bool | myInited |
| P2ArmJoint | myJoints [6] |
| ArTime | myLastInfoTime |
| ArTypes::UByte2 | myLastStatus |
| ArTime | myLastStatusTime |
| ArFunctor1< PacketType > * | myPacketCB |
| ArRobot * | myRobot |
| ArTypes::UByte2 | myStatus |
| StatusType | myStatusRequest |
| ArFunctor * | myStoppedCB |
| std::string | myVersion |
Static Protected Attributes | |
| static const unsigned int | ARMINFOpac |
| static const unsigned int | ARMpac |
| static const unsigned char | ComArmAutoPark |
| static const unsigned char | ComArmCheckArm |
| static const unsigned char | ComArmGripperPark |
| static const unsigned char | ComArmHome |
| static const unsigned char | ComArmInfo |
| static const unsigned char | ComArmInit |
| static const unsigned char | ComArmPark |
| static const unsigned char | ComArmPos |
| static const unsigned char | ComArmPower |
| static const unsigned char | ComArmSpeed |
| static const unsigned char | ComArmStats |
| static const unsigned char | ComArmStop |
| enum ArP2Arm::PacketType |
Type of arm packet identifiers. Used in ArP2Arm::setPacketCB().
| enum ArP2Arm::State |
General error conditions possible from most of the arm related functions.
| SUCCESS | Succeded. |
| ALREADY_INITED | The class is already initialized. |
| NOT_INITED | The class is not initialized. |
| ROBOT_NOT_SETUP | The ArRobot class is not setup properly. |
| NO_ARM_FOUND | The arm can not be found. |
| COMM_FAILED | Communications has failed. |
| COULD_NOT_OPEN_PORT | Could not open the communications port. |
| COULD_NOT_SET_UP_PORT | Could not setup the communications port. |
| ALREADY_CONNECTED | Already connected to the arm. |
| NOT_CONNECTED | Not connected with the arm, connect first. |
| INVALID_JOINT | Invalid joint specified. |
| INVALID_POSITION | Invalid position specified. |
| enum ArP2Arm::StatusType |
Type of status packets to request for. Used in ArP2Arm::requestStatus().
1.5.1