hormodular::SerialModularRobotInterface Class Reference

Interface to the modular robot via serial port. More...

#include <SerialModularRobotInterface.hpp>

Inheritance diagram for hormodular::SerialModularRobotInterface:

Collaboration diagram for hormodular::SerialModularRobotInterface:

List of all members.

Public Member Functions
	SerialModularRobotInterface (ConfigParser configParser)
virtual bool	start ()
	Connects with the modular robot using the serial port.
virtual bool	stop ()
	Stops the communication with the modular robot, closing the serial port.
virtual bool	destroy ()
	Stops the communication with the modular robot, closing the serial port and frees all the dynamically allocated memory.
virtual bool	reset ()
	Resets the communication with the modular robot, closing the serial port and connecting again to the robot.
virtual bool	setProperty (std::string property, std::string value)
	Configure a property or parameter of the interface.
virtual float	getTravelledDistance ()
	Returns the distance travelled my the modular robot in meters.
virtual bool	sendJointValues (std::vector< float > joint_values, float step_ms=0)
	Sends the specified joint position values to the modular robot through the serial connection.
virtual std::vector< float >	getJointValues ()
	Returns the joint position values stored in this class.
Private Member Functions
bool	initSerialPort ()
	Configures and opens the serial port.
bool	checkConnection ()
	Checks that the modular robot is connected by checking the initial message from the robot.
bool	toggleLED ()
	Sends the commands required for toggling the user LED on the robot board.
bool	sendJointValuesSerial (std::vector< float > joint_values)
	Sends the commands required for setting the joint position values on the modular robots.
Private Attributes
std::string	port_name
SerialPort *	serialPort
int	step_ms
int	num_modules
std::vector< float >	joint_values

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Detailed Description

Interface to the modular robot via serial port.

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

• SerialModularRobotInterface.hpp
• SerialModularRobotInterface.cpp