ArP2Arm is the interface to the AROS/P2OS-based Pioneer 2 Arm servers, by means of which the robot microcontroller firmware can control the original 5-DOF Pioneer 2 Arm manipulator. More...

#include <ArP2Arm.h>

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. More...

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. More...

virtual State	init ()
	Init the arm class. More...

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. More...

virtual State	moveStepTicks (int joint, signed char pos)
	Move a joint step ticks. More...

virtual State	moveTo (int joint, float pos, unsigned char vel=0)
	Move a joint to a position in degrees. More...

virtual State	moveToTicks (int joint, unsigned char pos)
	Move a joint to a position in low level arm controller ticks. More...

virtual State	moveVel (int joint, int vel)
	Set the joint to move at the given velocity. More...

virtual State	park ()
	Home the arm and power if off.

virtual State	powerOff ()
	Power off the arm. More...

virtual State	powerOn (bool doWait=true)
	Power on the arm. More...

virtual State	requestInfo ()
	Request the arm info packet. More...

virtual State	requestInit ()
	Request arm initialization. More...

virtual State	requestStatus (StatusType status)
	Request the arm status packet. More...

virtual State	setAutoParkTimer (int waitSecs)
	Set the auto park timer value. More...

virtual State	setGripperParkTimer (int waitSecs)
	Set the gripper park timer value. More...

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. More...

virtual State	uninit ()
	Uninit the arm class. More...

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

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

Detailed Description

ArP2Arm is the interface to the AROS/P2OS-based Pioneer 2 Arm servers, by means of which the robot microcontroller firmware can control the original 5-DOF Pioneer 2 Arm manipulator.

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.

For additional information about the original 5-DOF Pioneer 2 Arm, see the robot operations manual and the arm manual, available at http://robots.mobilerobots.com.Arm Control class

Examples:: armExample.cpp.

Member Enumeration Documentation

◆ PacketType

enum ArP2Arm::PacketType

Type of arm packet identifiers. Used in ArP2Arm::setPacketCB().

Enumerator
StatusPacket	The status packet type.
InfoPacket	The info packet type.

◆ State

enum ArP2Arm::State

General error conditions possible from most of the arm related functions.

Enumerator
SUCCESS	Succeded.
ALREADY_INITED	The class is already initialized.
NOT_INITED	The class is not initialized.
ROBOT_NOT_SETUP	The ArRobot class is not setup properly.
NO_ARM_FOUND	The arm can not be found.
COMM_FAILED	Communications has failed.
COULD_NOT_OPEN_PORT	Could not open the communications port.
COULD_NOT_SET_UP_PORT	Could not setup the communications port.
ALREADY_CONNECTED	Already connected to the arm.
NOT_CONNECTED	Not connected with the arm, connect first.
INVALID_JOINT	Invalid joint specified.
INVALID_POSITION	Invalid position specified.

◆ StatusType

enum ArP2Arm::StatusType

Type of status packets to request for. Used in ArP2Arm::requestStatus()

Enumerator
StatusOff	Stop sending status packets.
StatusSingle	Send a single status packets.
StatusContinuous	Send continous packets. Once every 100ms.

Member Function Documentation

◆ checkArm()

ArP2Arm::State ArP2Arm::checkArm ( bool waitForResponse = true )

virtual

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.

Parameters

waitForResponse cause the function to block until their is a response

See also: requestInit; setPacketCB

◆ home()

ArP2Arm::State ArP2Arm::home ( int joint = -1 )

virtual

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.

Parameters

joint home only that joint

◆ init()

ArP2Arm::State ArP2Arm::init ( void )

virtual

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.

Examples:: armExample.cpp.

◆ moveStep()

ArP2Arm::State ArP2Arm::moveStep	(	int	joint,
		float	pos,
		unsigned char	vel = `0`
	)

virtual

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.

Parameters

joint	the joint to move
pos	the position in degrees to step
vel	the speed at which to move. 0 will use the currently set speed

See also: moveTo; moveVel

◆ moveStepTicks()

ArP2Arm::State ArP2Arm::moveStepTicks	(	int	joint,
		signed char	pos
	)

virtual

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.

Parameters

joint	the joint to move
pos	the position, in ticks, to move to

See also: moveStep

◆ moveTo()

ArP2Arm::State ArP2Arm::moveTo	(	int	joint,
		float	pos,
		unsigned char	vel = `0`
	)

virtual

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.

Parameters

joint	the joint to move
pos	the position in degrees to move to
vel	the speed at which to move. 0 will use the currently set speed

See also: moveToTicks; moveVel

◆ moveToTicks()

ArP2Arm::State ArP2Arm::moveToTicks	(	int	joint,
		unsigned char	pos
	)

virtual

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.

Parameters

joint	the joint to move
pos	the position, in ticks, to move to

See also: moveTo

Examples:: armExample.cpp.

◆ moveVel()

ArP2Arm::State ArP2Arm::moveVel	(	int	joint,
		int	vel
	)

virtual

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.

Parameters

joint	the joint to move
vel	the velocity to move at

◆ powerOff()

ArP2Arm::State ArP2Arm::powerOff ( )

virtual

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.

See also: park

◆ powerOn()

ArP2Arm::State ArP2Arm::powerOn ( bool doSleep = true )

virtual

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.

Parameters

doSleep if true, sleeps 2 seconds to wait for the arm to stop shaking

Examples:: armExample.cpp.

◆ requestInfo()

ArP2Arm::State ArP2Arm::requestInfo ( )

virtual

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.

See also: setPacketCB

◆ requestInit()

ArP2Arm::State ArP2Arm::requestInit ( )

virtual

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.

See also: checkArm; setPacketCB

◆ requestStatus()

ArP2Arm::State ArP2Arm::requestStatus ( StatusType status )

virtual

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.

See also: setPacketCB

Examples:: armExample.cpp.

◆ setAutoParkTimer()

ArP2Arm::State ArP2Arm::setAutoParkTimer ( int waitSecs )

virtual

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.

Parameters

waitSecs seconds to wait till parking the arm when idle

◆ setGripperParkTimer()

ArP2Arm::State ArP2Arm::setGripperParkTimer ( int waitSecs )

virtual

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.

Parameters

waitSecs seconds to wait till parking the gripper once it has begun to grip something

◆ stop()

ArP2Arm::State ArP2Arm::stop ( void )

virtual

Stop the arm.

Stop the arm from moving.

This overrides all other actions except for the arms initilization sequence.

◆ uninit()

ArP2Arm::State ArP2Arm::uninit ( )

virtual

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.

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

ArP2Arm.h
ArP2Arm.cpp

Public Types

Public Member Functions

Static Public Attributes

Protected Member Functions

Protected Attributes

Static Protected Attributes

Detailed Description

Member Enumeration Documentation

◆ PacketType

◆ State

◆ StatusType

Member Function Documentation

◆ checkArm()

◆ home()

◆ init()

◆ moveStep()

◆ moveStepTicks()

◆ moveTo()

◆ moveToTicks()

◆ moveVel()

◆ powerOff()

◆ powerOn()

◆ requestInfo()

◆ requestInit()

◆ requestStatus()

◆ setAutoParkTimer()

◆ setGripperParkTimer()

◆ stop()

◆ uninit()