#include <ArP2Arm.h>
ArP2Arm is the interface to the AROS/P2OS-based Pioneer 2 Arm servers. The P2 Arm is attached to the robot's microcontroller via an auxiliary serial port.
To use ArmP2, you must first set up an ArRobot and have it connect with the robot. The ArRobot needs to be run so that it reads and writes packets to and from server. The easiest way is ArRobot::runAsync() which runs the ArRobot in its own thread.
Then call ArP2Arm::setRobot() with ArRobot, and finally initialized with ArmP2::init(). Once initialized, use the various ArP2Arm methods to power the P2 Arm servos, move joints, and so on.
For simple examples on how to use ArP2Arm, look in the Aria/examples directory for P2ArmSimple.cpp and P2ArmJoydrive.cpp.
See the Aria documentation on how to use Aria.
Public Types | |
| enum | PacketType { StatusPacket, InfoPacket } |
| Type of arm packet identifiers. Used in ArP2Arm::setPacketCB(). More... | |
| enum | State { SUCCESS, ALREADY_INITED, NOT_INITED, ROBOT_NOT_SETUP, NO_ARM_FOUND, COMM_FAILED, COULD_NOT_OPEN_PORT, COULD_NOT_SET_UP_PORT, ALREADY_CONNECTED, NOT_CONNECTED, INVALID_JOINT, INVALID_POSITION } |
| General error conditions possible from most of the arm related functions. More... | |
| enum | StatusType { StatusOff = 0, StatusSingle = 1, StatusContinuous = 2 } |
| Type of status packets to request for. Used in ArP2Arm::requestStatus(). More... | |
Public Member Functions | |
| ArP2Arm () | |
| Constructor. | |
| virtual State | checkArm (bool waitForResponse=true) |
| Check to see if the arm is still connected. | |
| virtual bool | convertDegToTicks (int joint, float pos, unsigned char *ticks) |
| Converts degrees to low level arm controller ticks. | |
| virtual bool | convertTicksToDeg (int joint, unsigned char pos, float *degrees) |
| Converts low level arm controller ticks to degrees. | |
| virtual std::string | getArmVersion () |
| Get the arm version. | |
| virtual P2ArmJoint * | getJoint (int joint) |
| Get the joints data structure. | |
| virtual float | getJointPos (int joint) |
| Get the joints position in degrees. | |
| virtual unsigned char | getJointPosTicks (int joint) |
| Get the joints position in ticks. | |
| virtual ArTime | getLastStatusTime () |
| Get when the last arm status packet came in. | |
| virtual bool | getMoving (int joint=-1) |
| Check to see if the arm is moving. | |
| virtual ArRobot * | getRobot () |
| Get the robot that the arm is on. | |
| virtual int | getStatus () |
| Get the two byts of status info from P2OS. | |
| virtual State | home (int joint=-1) |
| Home the arm. | |
| virtual State | init () |
| Init the arm class. | |
| virtual bool | isGood () |
| Check to see if the arm is communicating. | |
| virtual bool | isPowered () |
| Check to see if the arm is powered. | |
| virtual State | moveStep (int joint, float pos, unsigned char vel=0) |
| Move a joint step degrees. | |
| virtual State | moveStepTicks (int joint, signed char pos) |
| Move a joint step ticks. | |
| virtual State | moveTo (int joint, float pos, unsigned char vel=0) |
| Move a joint to a position in degrees. | |
| virtual State | moveToTicks (int joint, unsigned char pos) |
| Move a joint to a position in low level arm controller ticks. | |
| virtual State | moveVel (int joint, int vel) |
| Set the joint to move at the given velocity. | |
| virtual State | park () |
| Home the arm and power if off. | |
| virtual State | powerOff () |
| Power off the arm. | |
| virtual State | powerOn (bool doWait=true) |
| Power on the arm. | |
| virtual State | requestInfo () |
| Request the arm info packet. | |
| virtual State | requestInit () |
| Request arm initialization. | |
| virtual State | requestStatus (StatusType status) |
| Request the arm status packet. | |
| virtual State | setAutoParkTimer (int waitSecs) |
| Set the auto park timer value. | |
| virtual State | setGripperParkTimer (int waitSecs) |
| Set the gripper park timer value. | |
| virtual void | setPacketCB (ArFunctor1< PacketType > *func) |
| set the arm packet callback | |
| void | setRobot (ArRobot *robot) |
| Set the robot to use to talk to the arm. | |
| virtual void | setStoppedCB (ArFunctor *func) |
| Set the arm stopped callback. | |
| virtual State | stop () |
| Stop the arm. | |
| virtual State | uninit () |
| Uninit the arm class. | |
| virtual | ~ArP2Arm () |
| Destructor. | |
Static Public Attributes | |
| static const int | ArmGood = 0x100 |
| Bit for arm good state in arm status byte. | |
| static const int | ArmHoming = 0x800 |
| Bit for arm homing in arm status byte. | |
| static const int | ArmInited = 0x200 |
| Bit for arm initialized in arm status byte. | |
| static const int | ArmJoint1 = 0x1 |
| Bit for joint 1 in arm status byte. | |
| static const int | ArmJoint2 = 0x2 |
| Bit for joint 2 in arm status byte. | |
| static const int | ArmJoint3 = 0x4 |
| Bit for joint 3 in arm status byte. | |
| static const int | ArmJoint4 = 0x8 |
| Bit for joint 4 in arm status byte. | |
| static const int | ArmJoint5 = 0x10 |
| Bit for joint 5 in arm status byte. | |
| static const int | ArmJoint6 = 0x20 |
| Bit for joint 6 in arm status byte. | |
| static const int | ArmPower = 0x400 |
| Bit for arm powered on in arm status byte. | |
| static int | NumJoints = 6 |
| Number of joints that the arm has. | |
Protected Member Functions | |
| bool | armPacketHandler (ArRobotPacket *packet) |
| bool | comArmAutoPark (int waitSecs) |
| bool | comArmCheckArm () |
| bool | comArmGripperPark (int waitSecs) |
| bool | comArmHome (unsigned char joint=0xff) |
| bool | comArmInfo () |
| bool | comArmInit () |
| bool | comArmPark () |
| bool | comArmPos (unsigned char joint, unsigned char pos) |
| bool | comArmPower (bool on) |
| bool | comArmSpeed (unsigned char joint, unsigned char speed) |
| bool | comArmStats (StatusType stats=StatusSingle) |
| bool | comArmStop (unsigned char joint=0xff) |
Protected Attributes | |
| ArRetFunctorC< State, ArP2Arm > | myAriaUninitCB |
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ArRetFunctor1C< bool, ArP2Arm, ArRobotPacket * > | myArmPacketHandler |
| ArSerialConnection | myCon |
| bool | myInited |
| P2ArmJoint | myJoints [6] |
| ArTime | myLastInfoTime |
| ArTypes::UByte2 | myLastStatus |
| ArTime | myLastStatusTime |
| ArFunctor1< PacketType > * | myPacketCB |
| ArRobot * | myRobot |
| ArTypes::UByte2 | myStatus |
| StatusType | myStatusRequest |
| ArFunctor * | myStoppedCB |
| std::string | myVersion |
Static Protected Attributes | |
| static const unsigned int | ARMINFOpac = 0xa1 |
| static const unsigned int | ARMpac = 0xa0 |
| static const unsigned char | ComArmAutoPark = 80 |
| static const unsigned char | ComArmCheckArm = 73 |
| static const unsigned char | ComArmGripperPark = 81 |
| static const unsigned char | ComArmHome = 75 |
| static const unsigned char | ComArmInfo = 70 |
| static const unsigned char | ComArmInit = 72 |
| static const unsigned char | ComArmPark = 76 |
| static const unsigned char | ComArmPos = 77 |
| static const unsigned char | ComArmPower = 74 |
| static const unsigned char | ComArmSpeed = 78 |
| static const unsigned char | ComArmStats = 71 |
| static const unsigned char | ComArmStop = 79 |
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Type of arm packet identifiers. Used in ArP2Arm::setPacketCB().
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General error conditions possible from most of the arm related functions.
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Type of status packets to request for. Used in ArP2Arm::requestStatus().
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Check to see if the arm is still connected. Requests that P2OS checks to see if the arm is still alive and immediately exits. This is not a full init and differs that P2OS will still accept arm commands and the arm will not be parked. If P2OS fails to find the arm it will change the status byte accordingly and stop accepting arm related commands except for init commands. If the parameter waitForResponse is true then checkArm() will wait the appropriate amoutn of time and check the status of the arm. If you wish to do the waiting else where the arm check sequence takes about 200ms, so the user should wait 300ms then send a ArP2Arm::requestStatus() to get the results of the check arm request. Since there is a very noticable time delay, the user should use the ArP2Arm::setPacketCB() to set a callback so the user knows when the packet has been received. This can be usefull for telling if the arm is still alive. The arm controller can be powered on/off separately from the robot.
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Home the arm. Tells the arm to go to the home position. While the arm is homing, the status byte will reflect it with the ArP2Arm::ArmHoming flag. If joint is set to -1, then all the joints will be homed at a safe speed. If a single joint is specified, that joint will be told to go to its home position at the current speed its set at.
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Init the arm class. Initialize the P2 Arm class. This must be called before anything else. The setRobot() must be called to let ArP2Arm know what instance of an ArRobot to use. It talks to the robot and makes sure that there is an arm on it and it is in a good condition. The AROS/P2OS arm servers take care of AUX port serial communications with the P2 Arm controller.
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Move a joint step degrees. Step the joint pos degrees from its current position at the given speed. If vel is 0, then the currently set speed will be used. See ArP2Arm::moveToTicks() for a description of how positions are defined. See ArP2Arm::moveVel() for a description of how speeds are defined.
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Move a joint step ticks. Move the joint pos ticks from its current position. A tick is the arbitrary position value that the arm controller uses. The arm controller uses a single unsigned byte to represent all the possible positions in the range of the servo for each joint. So the range of ticks is 0-255 which is mapped to the physical range of the servo. Due to the design of the arm, certain joints range are limited by the arm itself. P2OS will bound the position to physical range of each joint. This is a lower level of controlling the arm position than using ArP2Arm::moveTo(). ArP2Arm::moveStep() uses a conversion factor which converts degrees to ticks.
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Move a joint to a position in degrees. Move the joint to the position at the given speed. If vel is 0, then the currently set speed will be used. The position is in degrees. Each joint has about a +-90 degree range, but they all differ due to the design. See ArP2Arm::moveToTicks() for a description of how positions are defined. See ArP2Arm::moveVel() for a description of how speeds are defined.
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Move a joint to a position in low level arm controller ticks. Move the joint to the given position in ticks. A tick is the arbitrary position value that the arm controller uses. The arm controller uses a single unsigned byte to represent all the possible positions in the range of the servo for each joint. So the range of ticks is 0-255 which is mapped to the physical range of the servo. Due to the design of the arm, certain joints range are limited by the arm itself. P2OS will bound the position to physical range of each joint. This is a lower level of controlling the arm position than using ArP2Arm::moveTo(). ArP2Arm::moveTo() uses a conversion factor which converts degrees to ticks.
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Set the joint to move at the given velocity. Set the joints velocity. The arm controller has no way of controlling the speed of the servos in the arm. So to control the speed of the arm, P2OS will incrementaly send a string of position commands to the arm controller to get the joint to move to its destination. To vary the speed, the amount of time to wait between each point in the path is varied. The velocity parameter is simply the number of milliseconds to wait between each point in the path. 0 is the fastest and 255 is the slowest. A reasonable range is around 10-40.
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Power off the arm. Powers off the arm. This should only be called when the arm is in a good position to power off. Due to the design, it will go limp when the power is turned off. A more safe way to power off the arm is to use the ArP2Arm::park() function. Which will home the arm, then power if off.
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Power on the arm. Powers on the arm. The arm will shake for up to 2 seconds after powering on. If the arm is told to move before it stops shaking, that vibration can be amplified by moving. The default is to wait the 2 seconds for the arm to settle down.
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Request the arm info packet. Requests the arm info packet from P2OS and immediately returns. This packet will be sent during the next 100ms cycle of P2OS. Since there is a very noticable time delay, the user should use the ArP2Arm::setPacketCB() to set a callback so the user knows when the packet has been received.
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Request arm initialization. Requests that P2OS initialize the arm and immediately returns. The arm initialization procedure takes about 700ms to complete and a little more time for the status information to be relayed back to the client. Since there is a very noticable time delay, the user should use the ArP2Arm::setPacketCB() to set a callback so the user knows when the arm info packet has been received. Then wait about 800ms, and send a ArP2Arm::requestStatus() to get the results of the init request. While the init is proceding, P2OS will ignore all arm related commands except requests for arm status and arm info packets. ArP2Arm::checkArm() can be used to periodicly check to make sure that the arm controller is still alive and responding.
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Request the arm status packet. Requests the arm status packet from P2OS and immediately returns. This packet will be sent during the next 100ms cycle of P2OS. Since there is a very noticable time delay, the user should use the ArP2Arm::setPacketCB() to set a callback so the user knows when the packet has been received.
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Set the auto park timer value. P2OS will automaticly park the arm if it gets no arm related packets after waitSecs. This is to help protect the arm when the program looses connection with P2OS. Set the value to 0 to disable this timer. Default wait is 10 minutes.
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Set the gripper park timer value. P2OS/AROS automatically park the gripper after its been closed for more than waitSecs. The gripper servo can overheat and burnout if it is holding something for more than 10 minutes. Care must be taken to ensure that this does not happen. If you wish to manage the gripper yourself, you can disable this timer by setting it to 0.
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Stop the arm. Stop the arm from moving. This overrides all other actions except for the arms initilization sequence. |
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Uninit the arm class. Uninitialize the arm class. This simply asks the arm to park itself and cleans up its internal state. To completely uninitialize the P2 Arm itself have the ArRobot disconnect from P2OS. |
1.4.2