cml__linkage_8h-source.html

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<a name="l00103"></a><a class="code" href="classLinkError.html">00103</a> <span class="keyword">class </span><a class="code" href="classLinkError.html">LinkError</a>: <span class="keyword">public</span> <a class="code" href="classError.html">Error</a>
<a name="l00104"></a>00104 {
<a name="l00105"></a>00105 <span class="keyword">public</span>:<span class="comment"></span>
<a name="l00106"></a>00106 <span class="comment">   /// The amplifier objects used to init the linkage are</span>
<a name="l00107"></a>00107 <span class="comment">   /// not all attached to the same CanOpen network.</span>
<a name="l00108"></a><a class="code" href="classLinkError.html#s0">00108</a> <span class="comment"></span>   <span class="keyword">static</span> <span class="keyword">const</span> <a class="code" href="classLinkError.html">LinkError</a> <a class="code" href="classLinkError.html#s0">NetworkMismatch</a>;
<a name="l00109"></a>00109 <span class="comment"></span>
<a name="l00110"></a>00110 <span class="comment">   /// An illegal number of amplifiers was passed </span>
<a name="l00111"></a>00111 <span class="comment">   /// to Linkage::Init</span>
<a name="l00112"></a><a class="code" href="classLinkError.html#s1">00112</a> <span class="comment"></span>   <span class="keyword">static</span> <span class="keyword">const</span> <a class="code" href="classLinkError.html">LinkError</a> <a class="code" href="classLinkError.html#s1">BadAmpCount</a>;
<a name="l00113"></a>00113 <span class="comment"></span>
<a name="l00114"></a>00114 <span class="comment">   /// Init was called on a Linkage that is already initialized.</span>
<a name="l00115"></a><a class="code" href="classLinkError.html#s2">00115</a> <span class="comment"></span>   <span class="keyword">static</span> <span class="keyword">const</span> <a class="code" href="classLinkError.html">LinkError</a> <a class="code" href="classLinkError.html#s2">AlreadyInit</a>;
<a name="l00116"></a>00116 <span class="comment"></span>
<a name="l00117"></a>00117 <span class="comment">   /// The passed amplifier object is already assigned to a linkage</span>
<a name="l00118"></a><a class="code" href="classLinkError.html#s3">00118</a> <span class="comment"></span>   <span class="keyword">static</span> <span class="keyword">const</span> <a class="code" href="classLinkError.html">LinkError</a> <a class="code" href="classLinkError.html#s3">AmpAlreadyLinked</a>;
<a name="l00119"></a>00119 <span class="comment"></span>
<a name="l00120"></a>00120 <span class="comment">   /// The point dimension doesn't match the number of linkage axes</span>
<a name="l00121"></a><a class="code" href="classLinkError.html#s4">00121</a> <span class="comment"></span>   <span class="keyword">static</span> <span class="keyword">const</span> <a class="code" href="classLinkError.html">LinkError</a> <a class="code" href="classLinkError.html#s4">AxisCount</a>;
<a name="l00122"></a>00122 <span class="comment"></span>
<a name="l00123"></a>00123 <span class="comment">   /// Amplifier trajectory structure overflow</span>
<a name="l00124"></a><a class="code" href="classLinkError.html#s5">00124</a> <span class="comment"></span>   <span class="keyword">static</span> <span class="keyword">const</span> <a class="code" href="classLinkError.html">LinkError</a> <a class="code" href="classLinkError.html#s5">AmpTrjOverflow</a>;  
<a name="l00125"></a>00125 <span class="comment"></span>
<a name="l00126"></a>00126 <span class="comment">   /// Amplifier trajectory already in use</span>
<a name="l00127"></a><a class="code" href="classLinkError.html#s6">00127</a> <span class="comment"></span>   <span class="keyword">static</span> <span class="keyword">const</span> <a class="code" href="classLinkError.html">LinkError</a> <a class="code" href="classLinkError.html#s6">AmpTrjInUse</a>;     
<a name="l00128"></a>00128 <span class="comment"></span>
<a name="l00129"></a>00129 <span class="comment">   /// Amplifier trajectory not presently in use</span>
<a name="l00130"></a><a class="code" href="classLinkError.html#s7">00130</a> <span class="comment"></span>   <span class="keyword">static</span> <span class="keyword">const</span> <a class="code" href="classLinkError.html">LinkError</a> <a class="code" href="classLinkError.html#s7">AmpTrjNotRunning</a>;
<a name="l00131"></a>00131 <span class="comment"></span>
<a name="l00132"></a>00132 <span class="comment">   /// No linkage trajectory is active</span>
<a name="l00133"></a><a class="code" href="classLinkError.html#s8">00133</a> <span class="comment"></span>   <span class="keyword">static</span> <span class="keyword">const</span> <a class="code" href="classLinkError.html">LinkError</a> <a class="code" href="classLinkError.html#s8">NoActiveTrj</a>;
<a name="l00134"></a>00134 <span class="comment"></span>
<a name="l00135"></a>00135 <span class="comment">   /// A zero or negative move limit was detected</span>
<a name="l00136"></a><a class="code" href="classLinkError.html#s9">00136</a> <span class="comment"></span>   <span class="keyword">static</span> <span class="keyword">const</span> <a class="code" href="classLinkError.html">LinkError</a> <a class="code" href="classLinkError.html#s9">BadMoveLimit</a>;
<a name="l00137"></a>00137 <span class="comment"></span>
<a name="l00138"></a>00138 <span class="comment">   /// Unknown amplifier error </span>
<a name="l00139"></a><a class="code" href="classLinkError.html#s10">00139</a> <span class="comment"></span>   <span class="keyword">static</span> <span class="keyword">const</span> <a class="code" href="classLinkError.html">LinkError</a> <a class="code" href="classLinkError.html#s10">UnknownAmpErr</a>;
<a name="l00140"></a>00140 <span class="comment"></span>
<a name="l00141"></a>00141 <span class="comment">   /// Timeout waiting on amplifier to respond to start move command</span>
<a name="l00142"></a><a class="code" href="classLinkError.html#s11">00142</a> <span class="comment"></span>   <span class="keyword">static</span> <span class="keyword">const</span> <a class="code" href="classLinkError.html">LinkError</a> <a class="code" href="classLinkError.html#s11">StartMoveTO</a>;
<a name="l00143"></a>00143 <span class="comment"></span>
<a name="l00144"></a>00144 <span class="comment">   /// Returned if Linkage::MoveTo is called on a system where floating</span>
<a name="l00145"></a>00145 <span class="comment">   /// point math was not enabled at compile time.</span>
<a name="l00146"></a><a class="code" href="classLinkError.html#s12">00146</a> <span class="comment"></span>   <span class="keyword">static</span> <span class="keyword">const</span> <a class="code" href="classLinkError.html">LinkError</a> <a class="code" href="classLinkError.html#s12">NotSupported</a>;
<a name="l00147"></a>00147 
<a name="l00148"></a>00148 <span class="keyword">protected</span>:<span class="comment"></span>
<a name="l00149"></a>00149 <span class="comment">   /// Standard protected constructor</span>
<a name="l00150"></a><a class="code" href="classLinkError.html#b0">00150</a> <span class="comment"></span>   <a class="code" href="classLinkError.html#b0">LinkError</a>( <a class="code" href="CML__Utils_8h.html#a8">uint16</a> <span class="keywordtype">id</span>, <span class="keyword">const</span> <span class="keywordtype">char</span> *desc ): <a class="code" href="classError.html">Error</a>( id, desc ){}
<a name="l00151"></a>00151 };
<a name="l00152"></a>00152 
<a name="l00153"></a>00153 <span class="comment">/***************************************************************************/</span><span class="comment"></span>
<a name="l00154"></a>00154 <span class="comment">/**</span>
<a name="l00155"></a>00155 <span class="comment">Receive PDO used to update the control word of all amplifiers in the linkage.</span>
<a name="l00156"></a>00156 <span class="comment">This object is intended for internal use only.</span>
<a name="l00157"></a>00157 <span class="comment">*/</span>
<a name="l00158"></a>00158 <span class="comment">/***************************************************************************/</span>
<a name="l00159"></a><a class="code" href="classRPDO__LinkCtrl.html">00159</a> <span class="keyword">class </span><a class="code" href="classRPDO__LinkCtrl.html">RPDO_LinkCtrl</a>: <span class="keyword">public</span> <a class="code" href="classRPDO.html">RPDO</a>
<a name="l00160"></a>00160 {<span class="comment"></span>
<a name="l00161"></a>00161 <span class="comment">   /// Points to the Linkage that owns this PDO</span>
<a name="l00162"></a>00162 <span class="comment"></span>   <span class="keyword">class </span><a class="code" href="classLinkage.html">Linkage</a> &amp;link;
<a name="l00163"></a>00163    <a class="code" href="classPmap16.html">Pmap16</a> ctrl;
<a name="l00164"></a>00164 
<a name="l00165"></a>00165 <span class="keyword">public</span>:<span class="comment"></span>
<a name="l00166"></a>00166 <span class="comment">   /// Default constructor for this PDO</span>
<a name="l00167"></a><a class="code" href="classRPDO__LinkCtrl.html#a0">00167</a> <span class="comment"></span>   <a class="code" href="classRPDO__LinkCtrl.html#a0">RPDO_LinkCtrl</a>( <span class="keyword">class</span> <a class="code" href="classLinkage.html">Linkage</a> &amp;l ): link(l) {}
<a name="l00168"></a>00168    <span class="keyword">const</span> <a class="code" href="classError.html">Error</a> *<a class="code" href="classRPDO__LinkCtrl.html#a1">Init</a>( <span class="keywordtype">void</span> );
<a name="l00169"></a>00169    <span class="keyword">const</span> <a class="code" href="classError.html">Error</a> *<a class="code" href="classRPDO__LinkCtrl.html#a2">Transmit</a>( <a class="code" href="CML__Utils_8h.html#a8">uint16</a> c );
<a name="l00170"></a>00170 };
<a name="l00171"></a>00171 
<a name="l00172"></a>00172 <span class="comment">/***************************************************************************/</span><span class="comment"></span>
<a name="l00173"></a>00173 <span class="comment">/**</span>
<a name="l00174"></a>00174 <span class="comment">Linkage object settings.  An object of this type may be passed to the</span>
<a name="l00175"></a>00175 <span class="comment">Linkage::Configure function to define the settings used by that linkage.</span>
<a name="l00176"></a>00176 <span class="comment">*/</span>
<a name="l00177"></a>00177 <span class="comment">/***************************************************************************/</span>
<a name="l00178"></a><a class="code" href="classLinkSettings.html">00178</a> <span class="keyword">class </span><a class="code" href="classLinkSettings.html">LinkSettings</a>
<a name="l00179"></a>00179 {
<a name="l00180"></a>00180 <span class="keyword">public</span>:
<a name="l00181"></a>00181    <a class="code" href="classLinkSettings.html#a0">LinkSettings</a>();
<a name="l00182"></a>00182 <span class="comment"></span>
<a name="l00183"></a>00183 <span class="comment">   /// This setting gives the amount of time (milliseconds)</span>
<a name="l00184"></a>00184 <span class="comment">   /// to wait for all amplifiers to acknowedge the start</span>
<a name="l00185"></a>00185 <span class="comment">   /// of a new move before reporting an error.</span>
<a name="l00186"></a>00186 <span class="comment">   ///</span>
<a name="l00187"></a>00187 <span class="comment">   /// When a new move is started on the linkage, each </span>
<a name="l00188"></a>00188 <span class="comment">   /// amplifier will respond with an acknowledgment.</span>
<a name="l00189"></a>00189 <span class="comment">   /// If all of these responses are not received in </span>
<a name="l00190"></a>00190 <span class="comment">   /// this amount of time then an error will be </span>
<a name="l00191"></a>00191 <span class="comment">   /// reported.</span>
<a name="l00192"></a>00192 <span class="comment">   ///</span>
<a name="l00193"></a>00193 <span class="comment">   /// Default: 200 ms</span>
<a name="l00194"></a><a class="code" href="classLinkSettings.html#o0">00194</a> <span class="comment"></span>   <a class="code" href="CML__Utils_8h.html#a9">int32</a> <a class="code" href="classLinkSettings.html#o0">moveAckTimeout</a>;
<a name="l00195"></a>00195 <span class="comment"></span>
<a name="l00196"></a>00196 <span class="comment">   /// If this setting is set to true, then the linkage object</span>
<a name="l00197"></a>00197 <span class="comment">   /// will automatically issue a halt to all axes if any of</span>
<a name="l00198"></a>00198 <span class="comment">   /// them reports a position warning window condition during</span>
<a name="l00199"></a>00199 <span class="comment">   /// a move.</span>
<a name="l00200"></a>00200 <span class="comment">   ///</span>
<a name="l00201"></a>00201 <span class="comment">   /// Default: false</span>
<a name="l00202"></a><a class="code" href="classLinkSettings.html#o1">00202</a> <span class="comment"></span>   <span class="keywordtype">bool</span> <a class="code" href="classLinkSettings.html#o1">haltOnPosWarn</a>;
<a name="l00203"></a>00203 <span class="comment"></span>
<a name="l00204"></a>00204 <span class="comment">   /// If this setting is set to true, then the linkage object</span>
<a name="l00205"></a>00205 <span class="comment">   /// will automatically issue a halt to all axes if any of</span>
<a name="l00206"></a>00206 <span class="comment">   /// them reports a velocity tracking window condition during</span>
<a name="l00207"></a>00207 <span class="comment">   /// a move.</span>
<a name="l00208"></a>00208 <span class="comment">   ///</span>
<a name="l00209"></a>00209 <span class="comment">   /// Default: false</span>
<a name="l00210"></a><a class="code" href="classLinkSettings.html#o2">00210</a> <span class="comment"></span>   <span class="keywordtype">bool</span> <a class="code" href="classLinkSettings.html#o2">haltOnVelWin</a>;
<a name="l00211"></a>00211 };
<a name="l00212"></a>00212 
<a name="l00213"></a>00213 <span class="comment">/***************************************************************************/</span><span class="comment"></span>