EmergencyStopMC Class Reference#include <EmergencyStopMC.h>
Inheritance diagram for EmergencyStopMC:
[legend]List of all members.
Detailed Description
overrides all joints with high priority freeze, blinks tail pink/red/blue cycle
Uses MotionCommand::kEmergencyPriority. Monitors the feedback on joints and adjusts joints to react to pressures above a certain threshold. This allows you to mold the body while it's in this mode, while retaining enough stiffness to hold against gravity.
This MotionCommand is intended to always be left running. It polls WorldState::state for a double-tap on the back button, which causes it to set its joint values. to whatever their current state is. LEDs are left blank, except the tail, which is used to indicate that the emergency stop is on.
A second double-tap will cause it to set all joints to 0 weight
The tail LEDs only ever go up to .5, so that if you really care whether the tail light was set by an underlying behavior/motion, you should be able to tell by looking closely (if blue is going from .5 to 1, that's because it's already set)
Definition at line 24 of file EmergencyStopMC.h.
Constructor & Destructor Documentation
EmergencyStopMC::EmergencyStopMC |
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Member Function Documentation
void EmergencyStopMC::freezeJoints |
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[protected] |
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bool EmergencyStopMC::getActive |
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unsigned int EmergencyStopMC::getDblTapDuration |
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const [inline] |
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float EmergencyStopMC::getResetSensitivity |
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bool EmergencyStopMC::getStopped |
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const [inline] |
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void EmergencyStopMC::releaseJoints |
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void EmergencyStopMC::setActive |
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bool |
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void EmergencyStopMC::setDblTapDuration |
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unsigned int |
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void EmergencyStopMC::setResetSensitivity |
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float |
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void EmergencyStopMC::setStopped |
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bool |
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bool |
sound = true |
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void EmergencyStopMC::takeSnapshot |
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const WorldState * |
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void EmergencyStopMC::takeSnapshot |
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bool EmergencyStopMC::trigger |
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int EmergencyStopMC::updateOutputs |
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Member Data Documentation
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true if the EmergencyStopMC is monitoring the back button (if false, won't pause on a double-tap)
Definition at line 49 of file EmergencyStopMC.h.
Referenced by setActive(). |
The documentation for this class was generated from the following files:
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