movement.cpp File Reference

#include <aruna/movement.h>
#include <set>
#include <aruna/comm.h>
#include "aruna/movement/Actuator.h"
#include <pthread.h>
#include "aruna/log.h"

Include dependency graph for movement.cpp:

Go to the source code of this file.

Namespaces
	aruna
	aruna::movement
	aruna::movement::anonymous_namespace{movement.cpp}

Functions
status_t	aruna::movement::start ()
	initialise movement and communicate with hardware for active modes. More...
status_t	aruna::movement::get_status ()
	get the status of the movement unit. More...
void *	aruna::movement::comm_handler_task (void *arg)
	task to handle all the incoming comm requests. More...
status_t	aruna::movement::stop ()
	Stop all motors and free all processes. More...
err_t	aruna::movement::register_driver (Actuator *driver)
	register a accelerator driver for use. More...
void	aruna::movement::calibrate_sensors ()
	Calibarte the sensors, aka set 0 point. More...
uint8_t	aruna::movement::test_sensor ()
	test whenever the sensors are connected, sensor should be horizontal and facing up. More...
void	aruna::movement::set_speed (axis_mask_t axisMask, int16_t speed)
	Set the speed of the motors directly. More...
int16_t	aruna::movement::get_speed (axis_mask_t single_axis)
	Get the speed of an axis. More...
int16_t	aruna::movement::get_velocity (axis_mask_t single_axis)
	get the current velocity More...
int16_t	aruna::movement::get_degree (axis_mask_t single_axis)
	get the angle of an axis (pitch, roll and yaw only) More...
void	aruna::movement::set_degree (axis_mask_t axisMask, int16_t degree)
	set the degree of an axis (only applies to yaw, pitch and roll) More...
void	aruna::movement::set_velocity (axis_mask_t axisMask, int16_t mm_per_second)
	Set the target velocity of the ROV. More...
axis_mask_t	aruna::movement::get_active_axis ()
	Get active modus (X,Y,Z,yawn,pitch,roll) More...
damping_t	aruna::movement::get_damping (axis_mask_t single_axis)
	get the damping of a single mode. More...
void	aruna::movement::set_damping (axis_mask_t axisMask, damping_t damp)
	set the damping type. More...

Variables
log::channel_t *	aruna::movement::anonymous_namespace{movement.cpp}::log
status_t	aruna::movement::anonymous_namespace{movement.cpp}::movement_status = status_t::STOPPED
pthread_t	aruna::movement::anonymous_namespace{movement.cpp}::movement_comm_handler
std::set< Actuator * >	aruna::movement::anonymous_namespace{movement.cpp}::drivers
axis_t< int16_t >	aruna::movement::anonymous_namespace{movement.cpp}::currentSpeed = {0, 0, 0, 0, 0, 0}
axis_t< int16_t >	aruna::movement::anonymous_namespace{movement.cpp}::currentVelocity = {0, 0, 0, 0, 0, 0}
axis_t< int16_t >	aruna::movement::anonymous_namespace{movement.cpp}::currentDegree = {0, 0, 0, 0, 0, 0}
axis_t< damping_t >	aruna::movement::anonymous_namespace{movement.cpp}::currentDamping