TorqueCalibrate::TakeMeasurementControl Class Reference

#include <TorqueCalibrate.h>

Inheritance diagram for TorqueCalibrate::TakeMeasurementControl:

Detailed Description

Definition at line 47 of file TorqueCalibrate.h.

Public Member Functions
	TakeMeasurementControl (const TorqueCalibrate &tcParent, unsigned int jointToMeasure)
virtual ControlBase *	activate (MC_ID disp_id, Socket *gui)
	Called when the control is activated (or the control system is reactivating).
virtual void	processEvent (const EventBase &event)
	for receiving events - you must override this to inherit
virtual void	refresh ()
	called when the child has deactivated and this control should refresh its display, or some other event (such as the user pressing the refresh button) has happened to cause a refresh to be needed
virtual ControlBase *	takeInput (const std::string &msg)
	called when the user has supplied a text string (may or may not have been prompted by doReadStdIn()! May not even be active yet - the user can direct the same input to a set of hilighted menus)
virtual void	deactivate ()
	called when this control is being popped from the control stack
Protected Types
enum	State_t { ZERO_JOINT, RECORD_POSITION, INPUT_PULSE, DO_PULSE, RECORD_FORCE }
	the states the TakeMeasurementControl goes through when recording measurements More...
Protected Member Functions
void	transition (State_t newstate)
	requests a transition to another state
Protected Attributes
const TorqueCalibrate &	parent
unsigned int	joint
float	basePosition
float	maxDuty
float	sensorDist
State_t	cstate
MC_ID	pidID
MC_ID	pulseID

Member Enumeration Documentation

enum TorqueCalibrate::TakeMeasurementControl::State_t [protected]

the states the TakeMeasurementControl goes through when recording measurements

Enumerator:

ZERO_JOINT	turn off PID of joints, allow user to reposition them to the force sensor
RECORD_POSITION	record the length of the lever arm (distance from point of rotation to force sensor)
INPUT_PULSE	wait for user to specify size of pulse to perform
DO_PULSE	make the joint do the pulse
RECORD_FORCE	wait for user to report the recorded force applied

Definition at line 61 of file TorqueCalibrate.h.

Constructor & Destructor Documentation

TorqueCalibrate::TakeMeasurementControl::TakeMeasurementControl	(	const TorqueCalibrate &	tcParent,
		unsigned int	jointToMeasure
	)

Definition at line 49 of file TorqueCalibrate.h.

Member Function Documentation

ControlBase * TorqueCalibrate::TakeMeasurementControl::activate	(	MC_ID	disp_id,
		Socket *	gui
	)			`[virtual]`

Called when the control is activated (or the control system is reactivating).

Takes the id number of a LedMC which the control should use, maintained by Controller. Controls share the display which is passed, and may use the socket gui to communicate with the GUI controller, if it is connected.

Returns:

a ControlBase pointer. Return:

this if the control should stay active (if it's not a one-shot command)
NULL to return to parent
other address to spawn a child control

Reimplemented from ControlBase.

Definition at line 55 of file TorqueCalibrate.cc.

void TorqueCalibrate::TakeMeasurementControl::deactivate ( ) [virtual]

called when this control is being popped from the control stack

Reimplemented from ControlBase.

Definition at line 180 of file TorqueCalibrate.cc.

void TorqueCalibrate::TakeMeasurementControl::processEvent ( const EventBase & event ) [virtual]

for receiving events - you must override this to inherit

See also:: EventRouter

Parameters:

event

the event being received

Implements EventListener.

Definition at line 74 of file TorqueCalibrate.cc.

void TorqueCalibrate::TakeMeasurementControl::refresh ( ) [virtual]

called when the child has deactivated and this control should refresh its display, or some other event (such as the user pressing the refresh button) has happened to cause a refresh to be needed

Reimplemented from ControlBase.

Definition at line 93 of file TorqueCalibrate.cc.

Referenced by transition().

ControlBase * TorqueCalibrate::TakeMeasurementControl::takeInput ( const std::string & msg ) [virtual]

called when the user has supplied a text string (may or may not have been prompted by doReadStdIn()! May not even be active yet - the user can direct the same input to a set of hilighted menus)

The value which is returned is then activate()ed and pushed on the Controller's stack

Reimplemented from ControlBase.

Definition at line 129 of file TorqueCalibrate.cc.

void TorqueCalibrate::TakeMeasurementControl::transition ( State_t newstate ) [protected]

requests a transition to another state

Definition at line 191 of file TorqueCalibrate.cc.

Referenced by processEvent(), and takeInput().