Basic RT components and utilities  315.12.1
Public Types | Public Member Functions
OpenHRP::ServoControllerService Interface Reference

import "ServoControllerService.idl";

List of all members.

Public Types

typedef sequence< short > iSequence
typedef sequence< double > dSequence

Public Member Functions

boolean setJointAngle (in short id, in double jv, in double tm)
 Interpolate just one joint angle specified by id using duration tm.
boolean setJointAngles (in dSequence jvs, in double tm)
 Interpolate all joint angles on servo moters using duration specified by tm.
boolean getJointAngle (in short id, out double jv)
 Obttain just one joint angle specified by id.
boolean getJointAngles (out dSequence jvs)
 Interpolate all joint angles on servo moters.
boolean addJointGroup (in string gname, in iSequence ids)
 add a joint group
boolean removeJointGroup (in string gname)
 remove a joint group
boolean setJointAnglesOfGroup (in string gname, in dSequence jvs, in double tm)
 Interpolate joint angles in a group using duration specified by tm.
boolean setMaxTorque (in short id, in short percentage)
 Interpolate just one joint max torque specified by id.
boolean setReset (in short id)
 Reset servo settings.
boolean getDuration (in short id, out double duration)
 Get servo duration.
boolean getSpeed (in short id, out double speed)
 Get servo speed.
boolean getMaxTorque (in short id, out short percentage)
 Get servo maxTorque.
boolean getTorque (in short id, out double torque)
 Get servo torque.
boolean getTemperature (in short id, out double temperature)
 Get servo temperature.
boolean getVoltage (in short id, out double voltage)
 Get servo voltage.
boolean servoOn ()
boolean servoOff ()

Member Typedef Documentation


Member Function Documentation

boolean OpenHRP::ServoControllerService::addJointGroup ( in string  gname,
in iSequence  ids 
)

add a joint group

Parameters:
gnamename of the joint group
idslist of joint ids
Returns:
true if the group is added successfully, false otherwise
boolean OpenHRP::ServoControllerService::getDuration ( in short  id,
out double  duration 
)

Get servo duration.

Parameters:
idjoint id
durationservo duration
Returns:
true if set successuflly, false otherwise
boolean OpenHRP::ServoControllerService::getJointAngle ( in short  id,
out double  jv 
)

Obttain just one joint angle specified by id.

Function returns without waiting for interpolation to finish

Parameters:
idjoint id
jvjoint angle
Returns:
true if get successuflly, false otherwise

Interpolate all joint angles on servo moters.

Returns without waiting for whole sequence to be sent to robot.

Parameters:
jvssequence of joint angles
Returns:
true joint angles are get successfully, false otherwise
boolean OpenHRP::ServoControllerService::getMaxTorque ( in short  id,
out short  percentage 
)

Get servo maxTorque.

Parameters:
idjoint id
percentageservo maxTorque(1~100[%], per 1)
Returns:
true if set successuflly, false otherwise
boolean OpenHRP::ServoControllerService::getSpeed ( in short  id,
out double  speed 
)

Get servo speed.

Parameters:
idjoint id
speedservo speed
Returns:
true if set successuflly, false otherwise
boolean OpenHRP::ServoControllerService::getTemperature ( in short  id,
out double  temperature 
)

Get servo temperature.

Parameters:
idjoint id
temperatureservo temperature
Returns:
true if set successuflly, false otherwise
boolean OpenHRP::ServoControllerService::getTorque ( in short  id,
out double  torque 
)

Get servo torque.

Parameters:
idjoint id
torqueservo torque
Returns:
true if set successuflly, false otherwise
boolean OpenHRP::ServoControllerService::getVoltage ( in short  id,
out double  voltage 
)

Get servo voltage.

Parameters:
idjoint id
voltageservo voltage
Returns:
true if set successuflly, false otherwise

remove a joint group

Parameters:
gnamename of the joint group
Returns:
true if the group is removed successfully, false otherwise
boolean OpenHRP::ServoControllerService::setJointAngle ( in short  id,
in double  jv,
in double  tm 
)

Interpolate just one joint angle specified by id using duration tm.

Function returns without waiting for interpolation to finish

Parameters:
idjoint id
jvjoint angle
tmduration
Returns:
true if set successuflly, false otherwise
boolean OpenHRP::ServoControllerService::setJointAngles ( in dSequence  jvs,
in double  tm 
)

Interpolate all joint angles on servo moters using duration specified by tm.

Returns without waiting for whole sequence to be sent to robot.

Parameters:
jvssequence of joint angles
tmduration
Returns:
true joint angles are set successfully, false otherwise
boolean OpenHRP::ServoControllerService::setJointAnglesOfGroup ( in string  gname,
in dSequence  jvs,
in double  tm 
)

Interpolate joint angles in a group using duration specified by tm.

Returns without waiting for whole sequence to be sent to robot.

Parameters:
gnamename of the joint group
jvssequence of joint angles
tmduration
Returns:
true joint angles are set successfully, false otherwise
boolean OpenHRP::ServoControllerService::setMaxTorque ( in short  id,
in short  percentage 
)

Interpolate just one joint max torque specified by id.

Function returns without waiting for interpolation to finish

Parameters:
idjoint id
percentageservo maxTorque(1~100[%])
Returns:
true if set successuflly, false otherwise

Reset servo settings.

Parameters:
idjoint id
Returns:
true if set successuflly, false otherwise

The documentation for this interface was generated from the following file: