DUNE: Uniform Navigational Environment  2.6.0-rc4
Actuators::MCD4R Namespace Reference

Detailed Description

Device driver for MCD4R.

MCD4R is a device that controls one robotic arm (pulse and finger), one pan & tilt, and one camera.

Author
Ricardo Martins

Classes

struct  Arguments
 
struct  Task
 

Enumerations

enum  PacketIds { PKT_ID_STATE, PKT_ID_ACTUATE }
 
enum  ActuateCommands {
  ACT_CAM_PAN, ACT_CAM_TILT, ACT_CAM_ZOOM, ACT_CAM_FOCUS,
  ACT_CAM_EXPO, ACT_ARM_PULSE, ACT_ARM_FINGER, ACT_LASER,
  ACT_TOTAL
}
 
enum  PanCommands { PAN_DIR_RV, PAN_DIR_ST, PAN_DIR_FW }
 
enum  TiltCommands { TILT_DIR_RV, TILT_DIR_ST, TILT_DIR_FW }
 
enum  ZoomCommands { ZOOM_DEC, ZOOM_STOP, ZOOM_INC }
 
enum  FocusCommands { FOCUS_FAR, FOCUS_STOP, FOCUS_NEAR, FOCUS_AUTO }
 
enum  ExposureCommands { EXPO_DEC, EXPO_STOP, EXPO_INC }
 
enum  PulseCommands { PULSE_FW, PULSE_ST, PULSE_RV }
 
enum  FingerCommands { FINGER_FW, FINGER_ST, FINGER_RV }
 
enum  LaserCommands { LASER_ON, LASER_OFF }
 
enum  StateVoltages {
  SV_24, SV_12, SV_3V3, SV_TILT_EOL,
  SV_PAN_EOL, SV_TOTAL
}
 
enum  StateCurrents {
  SC_ITILT, SC_IPAN, SC_IPULSE, SC_IFINGER,
  SC_ISYS, SC_TOTAL
}
 

Variables

const char * c_voltage_labels []
 
const char * c_current_labels []
 
const uint8_t c_voltage_idx []
 
const uint8_t c_current_idx []
 
const std::string c_action_names []
 
const std::string c_action_types []
 

Enumeration Type Documentation

Actuation commands.

Enumerator
ACT_CAM_PAN 

Camera pan.

ACT_CAM_TILT 

Camera tilt.

ACT_CAM_ZOOM 

Camera zoom.

ACT_CAM_FOCUS 

Camera focus.

ACT_CAM_EXPO 

Camera exposure.

ACT_ARM_PULSE 

Camera pulse.

ACT_ARM_FINGER 

Camera finger.

ACT_LASER 

Lasers.

ACT_TOTAL 

Total number of commands.

Camera exposure commands.

Enumerator
EXPO_DEC 

Exposure decrease.

EXPO_STOP 

Exposure stop.

EXPO_INC 

Exposure increase.

Arm finger commands.

Enumerator
FINGER_FW 

Finger forward.

FINGER_ST 

Finger stop.

FINGER_RV 

Finger reverse.

Camera focus commands.

Enumerator
FOCUS_FAR 

Far.

FOCUS_STOP 

Stop.

FOCUS_NEAR 

Near.

FOCUS_AUTO 

Auto.

Laser commands.

Enumerator
LASER_ON 

Enable Laser.

LASER_OFF 

Disable laser.

Packet identifiers.

Enumerator
PKT_ID_STATE 

State.

PKT_ID_ACTUATE 

Actuation command.

Camera pan directions.

Enumerator
PAN_DIR_RV 

Pan reverse.

PAN_DIR_ST 

Pan stop.

PAN_DIR_FW 

Pan forward.

Arm pulse commands.

Enumerator
PULSE_FW 

Pulse forward.

PULSE_ST 

Pulse stop.

PULSE_RV 

Pulse reverse.

Currents in the state array.

Enumerator
SC_ITILT 

Tilt current.

SC_IPAN 

Pan current.

SC_IPULSE 

Pulse current.

SC_IFINGER 

Finger current.

SC_ISYS 

System current.

SC_TOTAL 

Total number of currents.

Voltages in the state array.

Enumerator
SV_24 

24V

SV_12 

12V

SV_3V3 

3.3V

SV_TILT_EOL 

Tilt EOL.

SV_PAN_EOL 

Pan EOL.

SV_TOTAL 

Number of voltages.

Camera tilt directions.

Enumerator
TILT_DIR_RV 

Tilt reverse.

TILT_DIR_ST 

Tilt stop.

TILT_DIR_FW 

Tilt forward.

Camera zoom commands.

Enumerator
ZOOM_DEC 

Zoom decrease.

ZOOM_STOP 

Zoom stop.

ZOOM_INC 

Zoom increase.

Variable Documentation

const std::string Actuators::MCD4R::c_action_names[]

Action names for each actuation command.

Referenced by Actuators::MCD4R::Task::consume(), and Actuators::MCD4R::Task::onResourceInitialization().

const std::string Actuators::MCD4R::c_action_types[]

Action names for each actuation command.

Referenced by Actuators::MCD4R::Task::onResourceInitialization().

const uint8_t Actuators::MCD4R::c_current_idx[]

Currents index in for each measure in the received buffer.

Referenced by Actuators::MCD4R::Task::dispatchState().

const char* Actuators::MCD4R::c_current_labels[]

Labels for state currents.

Referenced by Actuators::MCD4R::Task::onEntityReservation().

const uint8_t Actuators::MCD4R::c_voltage_idx[]

Voltages index in for each measure in the received buffer.

Referenced by Actuators::MCD4R::Task::dispatchState().

const char* Actuators::MCD4R::c_voltage_labels[]

Labels for states voltages.

Referenced by Actuators::MCD4R::Task::onEntityReservation().