Management class of joints. More...

#include <JointController.h>

Classes
class	Multiplexer
	Management class (as namespace) of multiplexer. More...

Public Types
enum	JOINT_INDEX { LEFT_SHOULDER_PITCH = 0, LEFT_THIGH_YAW = 1, LEFT_SHOULDER_ROLL = 2, LEFT_ELBOW_ROLL = 3, LEFT_THIGH_ROLL = 4, LEFT_THIGH_PITCH = 5, LEFT_KNEE_PITCH = 6, LEFT_FOOT_PITCH = 7, LEFT_FOOT_ROLL = 8, RIGHT_SHOULDER_PITCH = 12, RIGHT_THIGH_YAW = 13, RIGHT_SHOULDER_ROLL = 14, RIGHT_ELBOW_ROLL = 15, RIGHT_THIGH_ROLL = 16, RIGHT_THIGH_PITCH = 17, RIGHT_KNEE_PITCH = 18, RIGHT_FOOT_PITCH = 19, RIGHT_FOOT_ROLL = 20 }

enum	BASIC_JOINT_SETTINGS { JOINTS_SUM = 24 }

Public Member Functions
	JointController ()
	Constructor. More...

void	loadSettings ()
	Load the joint settings. More...

void	resetSettings ()
	Reset the joint settings. More...

const int16_t &	getMinAngle (uint8_t joint_id)
	Get min angle of the joint given. More...

const int16_t &	getMaxAngle (uint8_t joint_id)
	Get max angle of the joint given. More...

const int16_t &	getHomeAngle (uint8_t joint_id)
	Get home angle of the joint given. More...

bool	setMinAngle (uint8_t joint_id, int16_t angle)
	Set min angle of the joint given. More...

bool	setMaxAngle (uint8_t joint_id, int16_t angle)
	Set max angle of the joint given. More...

bool	setHomeAngle (uint8_t joint_id, int16_t angle)
	Set home angle of the joint given. More...

bool	setAngle (uint8_t joint_id, int16_t angle)
	Set angle of the joint given. More...

bool	setAngleDiff (uint8_t joint_id, int16_t angle_diff)
	Set angle to "angle-diff + home-angle" of the joint given. More...

void	dump ()
	Dump the joint settings. More...

Static Public Attributes
static volatile bool	m_1cycle_finished
	Finished flag of PWM output procedure 1 cycle. More...

static uint16_t	m_pwms [JOINTS_SUM]
	PWM buffer. More...

Detailed Description

Management class of joints.

In Atmega32u4, one timer can output 3 PWM signals at a time. The MCU can control 24 servos by connecting 3bit multiplexer in each signal output lines.

Member Enumeration Documentation

enum PLEN2::JointController::BASIC_JOINT_SETTINGS

Enumerator
JOINTS_SUM	Summation of the servos controllable.

enum PLEN2::JointController::JOINT_INDEX

Enumerator
LEFT_SHOULDER_PITCH
LEFT_THIGH_YAW
LEFT_SHOULDER_ROLL
LEFT_ELBOW_ROLL
LEFT_THIGH_ROLL
LEFT_THIGH_PITCH
LEFT_KNEE_PITCH
LEFT_FOOT_PITCH
LEFT_FOOT_ROLL
RIGHT_SHOULDER_PITCH
RIGHT_THIGH_YAW
RIGHT_SHOULDER_ROLL
RIGHT_ELBOW_ROLL
RIGHT_THIGH_ROLL
RIGHT_THIGH_PITCH
RIGHT_KNEE_PITCH
RIGHT_FOOT_PITCH
RIGHT_FOOT_ROLL

Constructor & Destructor Documentation

PLEN2::JointController::JointController ( )

Constructor.

Member Function Documentation

void PLEN2::JointController::dump ( )

Dump the joint settings.

Output result in JSON format as below.

[
    {
        "@device": <integer>,
        "max": <integer>,
        "min": <integer>,
        "home": <integer>
    },
    ...
]

const int16_t& PLEN2::JointController::getHomeAngle ( uint8_t joint_id )

Get home angle of the joint given.

Parameters

[in] joint_id Please set the joint id from which you want to get home angle.

Returns: Reference of home angle a joint expressed by joint_id has.

Return values

-32768 Argument error. (joint_id is invalid.)

const int16_t& PLEN2::JointController::getMaxAngle ( uint8_t joint_id )

Get max angle of the joint given.

Parameters

[in] joint_id Please set the joint id from which you want to get max angle.

Returns: Reference of max angle of a joint described by joint_id.

Return values

-32768 Argument error. (joint_id is invalid.)

const int16_t& PLEN2::JointController::getMinAngle ( uint8_t joint_id )

Get min angle of the joint given.

Parameters

[in] joint_id Please set the joint id from which you want to get min angle.

Returns: Reference of min angle of a joint described by joint_id.

Return values

-32768 Argument error. (joint_id is invalid.)

void PLEN2::JointController::loadSettings ( )

Load the joint settings.

The method reads joint settings from internal EEPROM. If the EEPROM has no settings, the method also writes the default values.

See also: JointController.cpp::Shared::m_SETTINGS_INITIAL

Attention: The method should be called in constructor normally, but initialized timing of any interruption is indefinite, so it might get deadlocked. (The method uses serial communication and internal EEPROM access, so interruption happens.)

void PLEN2::JointController::resetSettings ( )

Reset the joint settings.

Write default settings to internal EEPROM.

bool PLEN2::JointController::setAngle	(	uint8_t	joint_id,
		int16_t	angle
	)

Set angle of the joint given.

Parameters

[in]	joint_id	Please set the joint id from which you want to set the angle.
[in]	angle	Please set angle that has steps of degree 1/10.

Returns: Result

Attention: angle might not be set actually. It is set after trimming by user defined min-max value or servo's range, so please consider it when writing a unit test.

bool PLEN2::JointController::setAngleDiff	(	uint8_t	joint_id,
		int16_t	angle_diff
	)

Set angle to "angle-diff + home-angle" of the joint given.

Parameters

[in]	joint_id	Please set the joint id from which you want to set the angle-diff.
[in]	angle_diff	Please set angle-diff that has steps of degree 1/10.

Returns: Result

Attention: angle_diff might not be set actually. It is set after trimming by user defined min-max value or servo's range, so please consider it when writing a unit test.

bool PLEN2::JointController::setHomeAngle	(	uint8_t	joint_id,
		int16_t	angle
	)

Set home angle of the joint given.

Parameters

[in]	joint_id	Please set the joint id from which you want to define the home angle.
[in]	angle	Please set angle that has steps of degree 1/10.

Returns: Result

bool PLEN2::JointController::setMaxAngle	(	uint8_t	joint_id,
		int16_t	angle
	)

Set max angle of the joint given.

Parameters

[in]	joint_id	Please set the joint id from which you want to define the max angle.
[in]	angle	Please set angle that has steps of degree 1/10.

Returns: Result

bool PLEN2::JointController::setMinAngle	(	uint8_t	joint_id,
		int16_t	angle
	)

Set min angle of the joint given.

Parameters

[in]	joint_id	Please set the joint id from which you want to define the min angle.
[in]	angle	Please set angle that has steps of degree 1/10.

Returns: Result

Member Data Documentation

volatile bool PLEN2::JointController::m_1cycle_finished

static

Finished flag of PWM output procedure 1 cycle.

Attention: The instance should be a private member normally. It is a public member because it is the only way to access it from Timer 1 overflow interruption vector, so you must not access it from other functions basically.

uint16_t PLEN2::JointController::m_pwms[JOINTS_SUM]

static

PWM buffer.

Attention: The instance should be a private member normally. It is a public member because it is the only way to access it from Timer 1 overflow interruption vector, so you must not access it from other functions basically.

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

JointController.h

Classes

Public Types

Public Member Functions

Static Public Attributes

Detailed Description

Member Enumeration Documentation

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation