import"ServoControllerService.idl";
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boolean | setJointAngle (in short id, in double jv, in double tm) |
| Interpolate just one joint angle specified by id using duration tm. More...
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boolean | setJointAngles (in dSequence jvs, in double tm) |
| Interpolate all joint angles on servo moters using duration specified by tm. More...
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boolean | getJointAngle (in short id, out double jv) |
| Obttain just one joint angle specified by id. More...
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boolean | getJointAngles (out dSequence jvs) |
| Interpolate all joint angles on servo moters. More...
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boolean | addJointGroup (in string gname, in iSequence ids) |
| add a joint group More...
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boolean | removeJointGroup (in string gname) |
| remove a joint group More...
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boolean | setJointAnglesOfGroup (in string gname, in dSequence jvs, in double tm) |
| Interpolate joint angles in a group using duration specified by tm. More...
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boolean | setMaxTorque (in short id, in short percentage) |
| Interpolate just one joint max torque specified by id. More...
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boolean | setReset (in short id) |
| Reset servo settings. More...
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boolean | getDuration (in short id, out double duration) |
| Get servo duration. More...
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boolean | getSpeed (in short id, out double speed) |
| Get servo speed. More...
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boolean | getMaxTorque (in short id, out short percentage) |
| Get servo maxTorque. More...
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boolean | getTorque (in short id, out double torque) |
| Get servo torque. More...
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boolean | getTemperature (in short id, out double temperature) |
| Get servo temperature. More...
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boolean | getVoltage (in short id, out double voltage) |
| Get servo voltage. More...
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boolean | servoOn () |
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boolean | servoOff () |
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◆ dSequence
◆ iSequence
◆ addJointGroup()
boolean OpenHRP::ServoControllerService::addJointGroup |
( |
in string |
gname, |
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in iSequence |
ids |
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) |
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add a joint group
- Parameters
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gname | name of the joint group |
ids | list of joint ids |
- Returns
- true if the group is added successfully, false otherwise
◆ getDuration()
boolean OpenHRP::ServoControllerService::getDuration |
( |
in short |
id, |
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out double |
duration |
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) |
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Get servo duration.
- Parameters
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id | joint id |
duration | servo duration |
- Returns
- true if set successuflly, false otherwise
◆ getJointAngle()
boolean OpenHRP::ServoControllerService::getJointAngle |
( |
in short |
id, |
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out double |
jv |
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) |
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Obttain just one joint angle specified by id.
Function returns without waiting for interpolation to finish
- Parameters
-
- Returns
- true if get successuflly, false otherwise
◆ getJointAngles()
boolean OpenHRP::ServoControllerService::getJointAngles |
( |
out dSequence |
jvs | ) |
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Interpolate all joint angles on servo moters.
Returns without waiting for whole sequence to be sent to robot.
- Parameters
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jvs | sequence of joint angles |
- Returns
- true joint angles are get successfully, false otherwise
◆ getMaxTorque()
boolean OpenHRP::ServoControllerService::getMaxTorque |
( |
in short |
id, |
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out short |
percentage |
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) |
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Get servo maxTorque.
- Parameters
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id | joint id |
percentage | servo maxTorque(1~100[%], per 1) |
- Returns
- true if set successuflly, false otherwise
◆ getSpeed()
boolean OpenHRP::ServoControllerService::getSpeed |
( |
in short |
id, |
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out double |
speed |
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) |
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Get servo speed.
- Parameters
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id | joint id |
speed | servo speed |
- Returns
- true if set successuflly, false otherwise
◆ getTemperature()
boolean OpenHRP::ServoControllerService::getTemperature |
( |
in short |
id, |
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out double |
temperature |
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) |
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Get servo temperature.
- Parameters
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id | joint id |
temperature | servo temperature |
- Returns
- true if set successuflly, false otherwise
◆ getTorque()
boolean OpenHRP::ServoControllerService::getTorque |
( |
in short |
id, |
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out double |
torque |
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) |
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Get servo torque.
- Parameters
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id | joint id |
torque | servo torque |
- Returns
- true if set successuflly, false otherwise
◆ getVoltage()
boolean OpenHRP::ServoControllerService::getVoltage |
( |
in short |
id, |
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out double |
voltage |
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) |
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Get servo voltage.
- Parameters
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id | joint id |
voltage | servo voltage |
- Returns
- true if set successuflly, false otherwise
◆ removeJointGroup()
boolean OpenHRP::ServoControllerService::removeJointGroup |
( |
in string |
gname | ) |
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remove a joint group
- Parameters
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gname | name of the joint group |
- Returns
- true if the group is removed successfully, false otherwise
◆ servoOff()
boolean OpenHRP::ServoControllerService::servoOff |
( |
| ) |
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◆ servoOn()
boolean OpenHRP::ServoControllerService::servoOn |
( |
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◆ setJointAngle()
boolean OpenHRP::ServoControllerService::setJointAngle |
( |
in short |
id, |
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in double |
jv, |
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in double |
tm |
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) |
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Interpolate just one joint angle specified by id using duration tm.
Function returns without waiting for interpolation to finish
- Parameters
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id | joint id |
jv | joint angle |
tm | duration |
- Returns
- true if set successuflly, false otherwise
◆ setJointAngles()
boolean OpenHRP::ServoControllerService::setJointAngles |
( |
in dSequence |
jvs, |
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in double |
tm |
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) |
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Interpolate all joint angles on servo moters using duration specified by tm.
Returns without waiting for whole sequence to be sent to robot.
- Parameters
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jvs | sequence of joint angles |
tm | duration |
- Returns
- true joint angles are set successfully, false otherwise
◆ setJointAnglesOfGroup()
boolean OpenHRP::ServoControllerService::setJointAnglesOfGroup |
( |
in string |
gname, |
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in dSequence |
jvs, |
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in double |
tm |
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) |
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Interpolate joint angles in a group using duration specified by tm.
Returns without waiting for whole sequence to be sent to robot.
- Parameters
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gname | name of the joint group |
jvs | sequence of joint angles |
tm | duration |
- Returns
- true joint angles are set successfully, false otherwise
◆ setMaxTorque()
boolean OpenHRP::ServoControllerService::setMaxTorque |
( |
in short |
id, |
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in short |
percentage |
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) |
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Interpolate just one joint max torque specified by id.
Function returns without waiting for interpolation to finish
- Parameters
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id | joint id |
percentage | servo maxTorque(1~100[%]) |
- Returns
- true if set successuflly, false otherwise
◆ setReset()
boolean OpenHRP::ServoControllerService::setReset |
( |
in short |
id | ) |
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Reset servo settings.
- Parameters
-
- Returns
- true if set successuflly, false otherwise
The documentation for this interface was generated from the following file: