EZServoServo Class Reference

This is the parent class for device drivers that interface with EZServos Since all EZServos shares the same RS-485 bus, this class has a static instance of the StdUart class to interact with the bus. More...

#include <EZServoServo.h>

Inheritance diagram for EZServoServo:

Collaboration diagram for EZServoServo:

Public Types
enum	EZServoServoType {   BUOYANCY, ELEVATOR, MASS_SHIFTER, RUDDER,   THRUSTER, NUM_EZSERVO_SERVOS }
Public Types inherited from Component
enum	ComponentState {   BLOCK_CONTINUOUS, BLOCK_PERIODIC, BLOCK_NORMAL, BLOCK_COMPLETED,   BLOCK_UNKNOWN }
	In this model, the component has basically two states: wanting to run, and completed (no longer needing to run). More...
enum	ComponentType { COMPONENT_ASYNC, COMPONENT_CONFIG, COMPONENT_BEHAVIOR, COMPONENT_SYNC }
	Components can indicate how they want to be handled by their type. More...
enum	RunState {   NO_RUN_STATE = 0, START, STARTING, RUNNABLE,   SATISFIED, PAUSE, PAUSING, PAUSED,   RESUME, RESUMING, RESETTING, STOP,   STOPPING, STOPPED }

Public Member Functions
	EZServoServo (const Str &name, const ConfigURI &uartCfg, const ConfigURI &baudCfg, const Module *module, EZServoServoType motorServoType, int divisor=1, int modulo=0)
virtual	~EZServoServo ()
Public Member Functions inherited from SyncComponent
CycleOrder	getCycleOrder (void)
	Getter function for controlThreadOrderPreference. More...
void	setRepeating (bool repeating)
int	getDivisor () const
int	getModulo () const
bool	isRepeater ()
bool	isRepeating ()
Public Member Functions inherited from Component
virtual	~Component ()
	Destructor cleans up readers_ and writers_. More...
void	registerReader (DataReader *reader)
void	unregisterReader (DataReader *reader)
void	registerWriter (DataWriter *writer)
void	unregisterWriter (DataWriter *writer)
void	disableMetering (void)
FlexArray< DataReader * > &	getReaderList (void)
FlexArray< DataWriter * > &	getWriterList (void)
const Module *	getModule ()
virtual void	initialize ()
	Provide a space for initialization before being run. More...
virtual void	configure ()
	Read (or re-read!) configuration settings. More...
virtual void	execute (void)
virtual void	run ()
	The actual "payload" of the component. More...
virtual void	uninitialize ()
	Provide a space for uninitialization. More...
bool	isActive () const
	Indicates if the component is active. More...
const CodedStr &	getName (void) const
	Returns the name. More...
const Timestamp &	getTimeOfLastRun (void) const
ComponentState	getState (void)
	Return the component's current state. More...
void	setState (ComponentState state)
RunState	getRunState (void)
	Return the component's run state. More...
bool	isUsingRunState ()
	Return true if using runState. More...
void	requestData (bool requestingData)
	Tell the component to start (or stop) sending data. More...
void	requestStart ()
	Tell the component to start runnning. More...
void	requestPause (const Timespan expectedPauseTime)
	Tell the component to pause runnning. More...
void	requestResume ()
	Tell the component resume from pause. More...
void	requestStop ()
	Tell the component to stop runnning. More...
virtual RunState	start ()
	Do what needs to be done to run Similar to initialize, in old init/run/uninit sequence. More...
virtual RunState	starting ()
	Might follow a STOP...START sequence Subseqent. More...
virtual RunState	runnable ()
	Should eventually follow a START request or RESETTING. More...
virtual RunState	satisfied ()
	Possible return value of a Behavior. More...
virtual RunState	pause ()
	Pause for a short period (indicated by pauseTime) More...
virtual RunState	pausing ()
	Might follow a PAUSE request. More...
virtual RunState	paused ()
	Should eventually follow a PAUSE request: should set continueTime. More...
virtual RunState	resume ()
	Resume from PAUSE. More...
virtual RunState	resuming ()
	Might follow a PAUSE...RESUME sequence. More...
virtual RunState	resetting ()
	Might occur in case of Error. More...
virtual RunState	stop ()
	Initial state – can be later followed by START. More...
virtual RunState	stopping ()
	Might follow a STOP request. More...
virtual RunState	stopped ()
	Should eventually follow a STOP request. More...
void	setCriticalFailureReported (bool boolVal)
void	setRecoveringFromCritical (bool boolVal)
void	setFailureReported (bool boolVal)
bool	isFailureUninitialized ()
void	setFailureUninitialized (bool boolVal)
void	setRetryTimeout (const Timespan &timeout)
virtual bool	isCompleted (void)
	Query if this component is completed. More...
void	setPeriod (const Timespan &period)
	Set the period of this component... used if it is periodic. More...
const Timespan &	getPeriod (void)
	Returns the component's period (regardless of whether it is periodic) More...
ComponentType	getComponentType ()
	Getter function for ComponentType. More...
virtual bool	isFailed (void) const
virtual FailureMode::FailType	getFailureType (void) const
virtual bool	getCriticalFailureReported (void) const
virtual bool	getFailureReported (void) const
virtual Timespan	getRetryTimeout (void) const
virtual FailureMode::FailType	setFailure (FailureMode::FailType failureType)
virtual int	getFailCount (void) const
virtual bool	isFailureMissionCritical ()
virtual int	getAllowableFailures (void) const
virtual void	setAllowableFailures (int fails)
Logger &	getLogger (void)
virtual int	incrementFailCount (void)
virtual void	resetFailCount (void)
virtual int	getSkippedRunsSinceFail (void) const
virtual int	incrementSkippedRunsSinceFail (void)
virtual void	logVoltage (float voltage, float averageVoltage)
virtual void	logCurrent (float current, float averageCurrent)
const Timestamp &	getWriteTimestamp (void)
void	setWriteTimestamp (const Timestamp &writeTimestamp)
BlobReader *	newBlobReader (const BlobURI &blobURI)
BlobReader *	newBlobReaderFromUniversal (const Str &componentName, const UniversalBlobURI &blobURI)
BlobWriter *	newBlobWriter (const BlobURI &blobURI, Logger::TimePrecisionType timePrecision=Logger::TIME_PRECISION_MILLIS)
ConfigReader *	newConfigReader (const ConfigURI &configURI)
DataReader *	newDataReader (const DataURI &dataURI)
DataReader *	newDataReaderFromUniversal (const Str &componentName, const UniversalURI &universalURI)
DataWriter *	newDataWriter (const DataURI &dataURI, Logger::TimePrecisionType timePrecision=Logger::TIME_PRECISION_MILLIS)
UniversalBlobReader *	newUniversalBlobReader (const UniversalBlobURI &universalURI)
UniversalBlobWriter *	newUniversalBlobWriter (const UniversalBlobURI &universalURI, const Unit &accuracyUnit=Units::NONE, const float accuracy=DataElement::NO_ACCURACY, Logger::TimePrecisionType timePrecision=Logger::TIME_PRECISION_MILLIS)
UniversalDataReader *	newUniversalReader (const UniversalURI &universalURI)
UniversalDataWriter *	newUniversalWriter (const UniversalURI &universalURI, const Unit &accuracyUnit=Units::NONE, const float accuracy=DataElement::NO_ACCURACY, Logger::TimePrecisionType timePrecision=Logger::TIME_PRECISION_MILLIS)

Protected Types
enum	EZServoError {   NO_ERROR = 0x0, INIT_ERROR = 0x1, BAD_COMMAND_ERROR = 0x2, BAD_OPERAND_ERROR = 0x3,   COMM_ERROR = 0x5, NOT_INIT_ERROR = 0x7, OVERLOAD_ERROR = 0x9, NOT_ALLOWED_ERROR = 0xB,   COMMAND_OVERFLOW_ERROR = 0xF }
Protected Types inherited from Component
enum	ConfigOption { CONFIG_SIMULATE_HARDWARE, CONFIG_POWER, CONFIG_FREQUENCY, CONFIG_LATENCY }

Protected Member Functions
void	initializeStart (void)
void	uninitializeStart (void)
void	uninitializeEnd ()
float	getPosition ()
float	isCommunicating (char *cmd)
float	getVelocityCmd ()
bool	checkPosition (float position)
virtual bool	checkResponse (bool checkForReady)
float	limit (float value)
virtual bool	readConfig ()
Protected Member Functions inherited from SyncServoComponent
	SyncServoComponent (const Str &name, const Module *module, int divisor=1, int modulo=0)
Protected Member Functions inherited from SyncComponent
void	setRepeater (bool repeater)
Protected Member Functions inherited from Component
virtual ConfigURI	getConfigURI (ConfigOption configOption) const
	Should return [myNamespace]::SIMULATE_HARDWARE, or [myNamespace]::POWER, etc. More...
virtual ConfigURI	getConfigURI (ConfigOption configOption, ElementURI forElement) const
	Should return [myNamespace]::POWER_[forElement], [myNamespace]::LATENCY_[forElement], etc. More...
virtual void	setDurationOfLastRun (const Timespan &span)
virtual void	setTimeOfRun (const Timestamp &time)
virtual void	setTimeOfLastRun (const Timestamp &time)
virtual void	setDt (const Timespan &dt)
virtual bool	setEnabled (bool enabled=true)
void	setRunState (const RunState runState)
const Timespan	getPauseTime () const
virtual void	setFailureMissionCritical (bool failureMissionCritical)
bool	simulateHardware ()

Protected Attributes
UartStream	uart_
int	controlAddress_
EZServoServoType	motorServoType_
EZServoError	ezServoError_
Timespan	eepromWriteTimeout_
Timestamp	startTime_
char	uartResponse_ [30]
float	powerOnTimeoutCfg_
float	powerOffTimeoutCfg_
float	currLimitCfg_
float	limitHiCfg_
float	limitLoCfg_
float	pidWCfg_
float	pidXCfg_
float	pidYCfg_
float	overloadTimeoutCfg_
float	accelCfg_
float	velocityCfg_
float	offsetAngleCfg_
float	countsPerDegCfg_
float	mtrCenterCfg_
float	deviationAngleCfg_
ConfigReader *	powerOnTimeoutCfgReader_
	Config settings shared by all Servos: More...
ConfigReader *	powerOffTimeoutCfgReader_
ConfigReader *	currLimitCfgReader_
ConfigReader *	limitHiCfgReader_
ConfigReader *	limitLoCfgReader_
ConfigReader *	pidWCfgReader_
ConfigReader *	pidXCfgReader_
ConfigReader *	pidYCfgReader_
ConfigReader *	overloadTimeoutCfgReader_
ConfigReader *	accelCfgReader_
ConfigReader *	velocityCfgReader_
ConfigReader *	offsetAngleCfgReader_
ConfigReader *	countsPerDegCfgReader_
ConfigReader *	mtrCenterCfgReader_
ConfigReader *	deviationAngleCfgReader_
Protected Attributes inherited from Component
Logger	logger_
Syslog::Severity	debugLevel_
ComponentState	state_
	Keep track of whether the component has "completed" or should be run again. More...
Timespan	desiredPeriod_
CodedStr &	name_
	Store the component's name (used for logging purposes) More...
Timestamp	timeOfRun_
Timestamp	timeOfLastRun_
Timespan	durationOfLastRun_
Timespan	dt_
Timespan	retryTimeout_
bool	enabled_
bool	failureReported_
	Indicates if the failure has been reported – cuts down on syslog. More...
bool	criticalFailureReported_
	Indicates if a "Critical" failure has been reported – cuts down on syslog. More...
bool	recoveringFromCritical_
	Indicates that a component had a previous critical failure that has been cleared temporarily awaiting final word from the component itself. More...
bool	failureUninitialized_
	Indicates if the failure has resulted in an uninitialize call. More...
int	failCount_
	Number of failures logged by PCaller. More...
bool	failureMissionCritical_
	If true (default), complete failure ends mission. More...
int	allowableFailures_
	Number of failures allowed to occur. More...
int	skippedRunsSinceFail_
	Number of skipped runs since failureMode_ set by failCount_. More...
FailureMode::FailType	failureType_
	Failed status. If failCount_ > 0, then this may be reset. More...
Timestamp	timeOfFailure_
	Time of last failure. Relevant only if failed=true. More...
Timestamp	writeTimestamp_
	Time of last write. More...
FlexArray< DataReader * >	readers_
FlexArray< DataWriter * >	writers_
const Module *	module_
Timespan	pauseTime_
bool	meteringEnabled_
	If true, metering is enabled. More...
DataWriter *	durationOfLastRunWriter_
	Writer for durationOfLastRun. More...
DataWriter *	voltageWriter_
DataWriter *	avgVoltageWriter_
DataWriter *	currentWriter_
DataWriter *	avgCurrentWriter_
bool	persistentPause_
	True if data is persistent while component is paused. More...

Static Protected Attributes
static const int	RECEIVE_READY = 0x2

Private Member Functions
	EZServoServo (const EZServoServo &old)

Additional Inherited Members
Static Public Attributes inherited from SyncComponent
static const int	CYCLE_INCREMENT
static const int	CYCLE_REPEAT_OFFSET
static const CycleOrder	CYCLE_STARTER
static const CycleOrder	CYCLE_SIMULATOR
static const CycleOrder	CYCLE_SENSOR
static const CycleOrder	CYCLE_DERIVATION
static const CycleOrder	CYCLE_ESTIMATION
static const CycleOrder	CYCLE_NAVIGATION
static const CycleOrder	CYCLE_MISSION_MANAGER
static const CycleOrder	CYCLE_MISSION
static const CycleOrder	CYCLE_CONTROL
static const CycleOrder	CYCLE_SERVO
static const CycleOrder	CYCLE_TEST
static const CycleOrder	CYCLE_REPORTER
static const CycleOrder	CYCLE_LOGGER

Detailed Description

This is the parent class for device drivers that interface with EZServos Since all EZServos shares the same RS-485 bus, this class has a static instance of the StdUart class to interact with the bus.

Constructor & Destructor Documentation

EZServoServo::EZServoServo	(	const Str &	name,
		const ConfigURI &	uartCfg,
		const ConfigURI &	baudCfg,
		const Module *	module,
		EZServoServoType	motorServoType,
		int	divisor = 1,
		int	modulo = 0
	)

References uartResponse_.

EZServoServo::~EZServoServo ( )

virtual

EZServoServo::EZServoServo ( const EZServoServo &  old )

private

Member Function Documentation

bool EZServoServo::checkPosition ( float  position )

protected

References limitHiCfg_, and limitLoCfg_.

Referenced by getPosition().

bool EZServoServo::checkResponse ( bool  checkForReady )

protectedvirtual

Reimplemented in MassServo.

References BAD_COMMAND_ERROR, BAD_OPERAND_ERROR, COMM_ERROR, COMMAND_OVERFLOW_ERROR, FailureMode::COMMUNICATIONS, ezServoError_, Syslog::FAULT, FailureMode::HARDWARE, INIT_ERROR, Component::logger_, NO_ERROR, NOT_ALLOWED_ERROR, NOT_INIT_ERROR, OVERLOAD_ERROR, RECEIVE_READY, Component::setFailure(), Logger::syslog(), and uartResponse_.

Referenced by MassServo::checkResponse(), ElevatorServo::runnable(), BuoyancyServo::runnable(), RudderServo::runnable(), ThrusterServo::runnable(), ElevatorServo::starting(), RudderServo::starting(), and BuoyancyServo::starting().

float EZServoServo::getPosition ( )

protected

References checkPosition(), controlAddress_, Syslog::ERROR, UartStream::errorString(), UartStream::flushCRLF(), UartStream::hasError(), Component::logger_, UartStream::readLine(), Logger::syslog(), uart_, and uartResponse_.

Referenced by ElevatorServo::runnable(), MassServo::runnable(), RudderServo::runnable(), and BuoyancyServo::runnable().

float EZServoServo::getVelocityCmd ( )

protected

References controlAddress_, UartStream::errorString(), Syslog::FAULT, UartStream::flushCRLF(), UartStream::hasError(), Component::logger_, UartStream::readLine(), Logger::syslog(), uart_, and uartResponse_.

Referenced by ThrusterServo::runnable().

void EZServoServo::initializeStart ( void  )

protected

References UartStream::errorString(), Syslog::FAULT, UartStream::hasError(), Component::logger_, UartStream::open(), Component::simulateHardware(), Logger::syslog(), and uart_.

Referenced by ElevatorServo::start(), MassServo::start(), RudderServo::start(), BuoyancyServo::start(), and ThrusterServo::start().

float EZServoServo::isCommunicating ( char *  cmd )

protected

References controlAddress_, Syslog::ERROR, UartStream::errorString(), UartStream::flushCRLF(), UartStream::hasError(), Component::logger_, UartStream::readLine(), Logger::syslog(), uart_, and uartResponse_.

Referenced by MassServo::waitForHoming().

float EZServoServo::limit ( float  value )

protected

References AuvMath::Limit(), limitHiCfg_, and limitLoCfg_.

Referenced by ElevatorServo::runnable(), MassServo::runnable(), RudderServo::runnable(), and BuoyancyServo::runnable().

bool EZServoServo::readConfig ( void  )

protectedvirtual

Reimplemented in BuoyancyServo, ThrusterServo, MassServo, RudderServo, and ElevatorServo.

References accelCfg_, accelCfgReader_, Units::COUNT, Units::COUNT_PER_ANGULAR_DEGREE, countsPerDegCfg_, countsPerDegCfgReader_, currLimitCfg_, currLimitCfgReader_, Units::DEGREE, deviationAngleCfg_, deviationAngleCfgReader_, limitHiCfg_, limitHiCfgReader_, limitLoCfg_, limitLoCfgReader_, Units::MILLISECOND, mtrCenterCfg_, mtrCenterCfgReader_, Units::NONE, offsetAngleCfg_, offsetAngleCfgReader_, overloadTimeoutCfg_, overloadTimeoutCfgReader_, Units::PERCENT, pidWCfg_, pidWCfgReader_, pidXCfg_, pidXCfgReader_, pidYCfg_, pidYCfgReader_, powerOffTimeoutCfg_, powerOffTimeoutCfgReader_, powerOnTimeoutCfg_, powerOnTimeoutCfgReader_, DataReader::read(), Units::SECOND, velocityCfg_, and velocityCfgReader_.

Referenced by ElevatorServo::readConfig(), RudderServo::readConfig(), MassServo::readConfig(), ThrusterServo::readConfig(), and BuoyancyServo::readConfig().

void EZServoServo::uninitializeEnd ( void  )

protected

Referenced by ElevatorServo::uninitialize(), MassServo::uninitialize(), RudderServo::uninitialize(), BuoyancyServo::uninitialize(), and ThrusterServo::uninitialize().

void EZServoServo::uninitializeStart ( void  )

protected

Referenced by ElevatorServo::uninitialize(), MassServo::uninitialize(), RudderServo::uninitialize(), BuoyancyServo::uninitialize(), and ThrusterServo::uninitialize().

Member Data Documentation

float EZServoServo::accelCfg_

protected

Referenced by BuoyancyServo::initBuoyancy(), MassServo::initMass(), ThrusterServo::initThruster(), and readConfig().

ConfigReader* EZServoServo::accelCfgReader_

protected

Referenced by BuoyancyServo::BuoyancyServo(), MassServo::MassServo(), readConfig(), and ThrusterServo::ThrusterServo().

int EZServoServo::controlAddress_

protected

Referenced by getPosition(), getVelocityCmd(), BuoyancyServo::initBuoyancy(), ElevatorServo::initElevator(), MassServo::initMass(), RudderServo::initRudder(), ThrusterServo::initThruster(), isCommunicating(), MassServo::resuming(), ElevatorServo::runnable(), MassServo::runnable(), RudderServo::runnable(), BuoyancyServo::runnable(), ThrusterServo::runnable(), ElevatorServo::starting(), MassServo::starting(), BuoyancyServo::starting(), RudderServo::starting(), ThrusterServo::starting(), and BuoyancyServo::uninitialize().

float EZServoServo::countsPerDegCfg_

protected

Referenced by readConfig(), ElevatorServo::runnable(), and RudderServo::runnable().

ConfigReader* EZServoServo::countsPerDegCfgReader_

protected

Referenced by ElevatorServo::ElevatorServo(), readConfig(), and RudderServo::RudderServo().

float EZServoServo::currLimitCfg_

protected

Referenced by BuoyancyServo::initBuoyancy(), ElevatorServo::initElevator(), MassServo::initMass(), RudderServo::initRudder(), ThrusterServo::initThruster(), and readConfig().

ConfigReader* EZServoServo::currLimitCfgReader_

protected

Referenced by BuoyancyServo::BuoyancyServo(), ElevatorServo::ElevatorServo(), MassServo::MassServo(), readConfig(), RudderServo::RudderServo(), and ThrusterServo::ThrusterServo().

float EZServoServo::deviationAngleCfg_

protected

Referenced by ElevatorServo::isNeeded(), RudderServo::isNeeded(), readConfig(), ElevatorServo::readConfig(), RudderServo::readConfig(), ElevatorServo::runnable(), and RudderServo::runnable().

ConfigReader* EZServoServo::deviationAngleCfgReader_

protected

Referenced by ElevatorServo::ElevatorServo(), readConfig(), and RudderServo::RudderServo().

Timespan EZServoServo::eepromWriteTimeout_

protected

Referenced by ElevatorServo::starting(), MassServo::starting(), RudderServo::starting(), BuoyancyServo::starting(), and ThrusterServo::starting().

EZServoError EZServoServo::ezServoError_

protected

Referenced by checkResponse(), MassServo::checkResponse(), and ThrusterServo::runnable().

float EZServoServo::limitHiCfg_

protected

Referenced by checkPosition(), limit(), and readConfig().

ConfigReader* EZServoServo::limitHiCfgReader_

protected

Referenced by BuoyancyServo::BuoyancyServo(), ElevatorServo::ElevatorServo(), MassServo::MassServo(), readConfig(), and RudderServo::RudderServo().

float EZServoServo::limitLoCfg_

protected

Referenced by checkPosition(), limit(), and readConfig().

ConfigReader* EZServoServo::limitLoCfgReader_

protected

Referenced by BuoyancyServo::BuoyancyServo(), ElevatorServo::ElevatorServo(), MassServo::MassServo(), readConfig(), and RudderServo::RudderServo().

EZServoServoType EZServoServo::motorServoType_

protected

float EZServoServo::mtrCenterCfg_

protected

Referenced by readConfig(), ElevatorServo::runnable(), and RudderServo::runnable().

ConfigReader* EZServoServo::mtrCenterCfgReader_

protected

Referenced by ElevatorServo::ElevatorServo(), readConfig(), and RudderServo::RudderServo().

float EZServoServo::offsetAngleCfg_

protected

Referenced by ElevatorServo::isNeeded(), RudderServo::isNeeded(), readConfig(), ElevatorServo::runnable(), and RudderServo::runnable().

ConfigReader* EZServoServo::offsetAngleCfgReader_

protected

Referenced by ElevatorServo::ElevatorServo(), readConfig(), and RudderServo::RudderServo().

float EZServoServo::overloadTimeoutCfg_

protected

Referenced by BuoyancyServo::initBuoyancy(), MassServo::initMass(), ThrusterServo::initThruster(), and readConfig().

ConfigReader* EZServoServo::overloadTimeoutCfgReader_

protected

Referenced by BuoyancyServo::BuoyancyServo(), MassServo::MassServo(), readConfig(), and ThrusterServo::ThrusterServo().

float EZServoServo::pidWCfg_

protected

Referenced by BuoyancyServo::initBuoyancy(), ElevatorServo::initElevator(), RudderServo::initRudder(), ThrusterServo::initThruster(), and readConfig().

ConfigReader* EZServoServo::pidWCfgReader_

protected

Referenced by BuoyancyServo::BuoyancyServo(), ElevatorServo::ElevatorServo(), readConfig(), RudderServo::RudderServo(), and ThrusterServo::ThrusterServo().

float EZServoServo::pidXCfg_

protected

Referenced by BuoyancyServo::initBuoyancy(), ElevatorServo::initElevator(), RudderServo::initRudder(), ThrusterServo::initThruster(), and readConfig().

ConfigReader* EZServoServo::pidXCfgReader_

protected

Referenced by BuoyancyServo::BuoyancyServo(), ElevatorServo::ElevatorServo(), readConfig(), RudderServo::RudderServo(), and ThrusterServo::ThrusterServo().

float EZServoServo::pidYCfg_

protected

Referenced by BuoyancyServo::initBuoyancy(), ElevatorServo::initElevator(), RudderServo::initRudder(), ThrusterServo::initThruster(), and readConfig().

ConfigReader* EZServoServo::pidYCfgReader_

protected

Referenced by BuoyancyServo::BuoyancyServo(), ElevatorServo::ElevatorServo(), readConfig(), RudderServo::RudderServo(), and ThrusterServo::ThrusterServo().

float EZServoServo::powerOffTimeoutCfg_

protected

Referenced by readConfig(), and BuoyancyServo::stopping().

ConfigReader* EZServoServo::powerOffTimeoutCfgReader_

protected

Referenced by BuoyancyServo::BuoyancyServo(), and readConfig().

float EZServoServo::powerOnTimeoutCfg_

protected

Referenced by readConfig(), MassServo::resuming(), MassServo::starting(), ElevatorServo::starting(), BuoyancyServo::starting(), RudderServo::starting(), and ThrusterServo::starting().

ConfigReader* EZServoServo::powerOnTimeoutCfgReader_

protected

Config settings shared by all Servos:

Referenced by BuoyancyServo::BuoyancyServo(), ElevatorServo::ElevatorServo(), MassServo::MassServo(), readConfig(), RudderServo::RudderServo(), and ThrusterServo::ThrusterServo().

const int EZServoServo::RECEIVE_READY = 0x2

staticprotected

Referenced by checkResponse().

Timestamp EZServoServo::startTime_

protected

Referenced by BuoyancyServo::isNeeded(), MassServo::resume(), MassServo::resuming(), MassServo::runnable(), BuoyancyServo::runnable(), ThrusterServo::runnable(), MassServo::start(), ElevatorServo::start(), BuoyancyServo::start(), RudderServo::start(), ThrusterServo::start(), ElevatorServo::starting(), MassServo::starting(), BuoyancyServo::starting(), RudderServo::starting(), ThrusterServo::starting(), BuoyancyServo::stop(), and BuoyancyServo::stopping().

UartStream EZServoServo::uart_

protected

Referenced by getPosition(), getVelocityCmd(), BuoyancyServo::initBuoyancy(), ElevatorServo::initElevator(), initializeStart(), MassServo::initMass(), RudderServo::initRudder(), ThrusterServo::initThruster(), isCommunicating(), ElevatorServo::pause(), MassServo::pause(), BuoyancyServo::pause(), RudderServo::pause(), ThrusterServo::pause(), ElevatorServo::resume(), MassServo::resume(), BuoyancyServo::resume(), RudderServo::resume(), ThrusterServo::resume(), MassServo::resuming(), MassServo::runnable(), ElevatorServo::runnable(), RudderServo::runnable(), BuoyancyServo::runnable(), ThrusterServo::runnable(), ElevatorServo::starting(), MassServo::starting(), RudderServo::starting(), BuoyancyServo::starting(), ThrusterServo::starting(), ElevatorServo::stopped(), MassServo::stopped(), RudderServo::stopped(), BuoyancyServo::stopped(), ThrusterServo::stopped(), BuoyancyServo::uninitialize(), and MassServo::waitForHoming().

char EZServoServo::uartResponse_[30]

protected

Referenced by checkResponse(), EZServoServo(), getPosition(), getVelocityCmd(), BuoyancyServo::initBuoyancy(), ElevatorServo::initElevator(), RudderServo::initRudder(), ThrusterServo::initThruster(), isCommunicating(), MassServo::resuming(), ElevatorServo::runnable(), MassServo::runnable(), BuoyancyServo::runnable(), RudderServo::runnable(), ThrusterServo::runnable(), ElevatorServo::starting(), MassServo::starting(), RudderServo::starting(), BuoyancyServo::starting(), and ThrusterServo::starting().

float EZServoServo::velocityCfg_

protected

Referenced by BuoyancyServo::initBuoyancy(), MassServo::initMass(), and readConfig().

ConfigReader* EZServoServo::velocityCfgReader_

protected

Referenced by BuoyancyServo::BuoyancyServo(), MassServo::MassServo(), and readConfig().

---

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

• /Volumes/ubuntu_share/lrauv-application/Source/servoModule/EZServoServo.h
• /Volumes/ubuntu_share/lrauv-application/Source/servoModule/EZServoServo.cpp