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EmergencyStopMC Class Reference#include <EmergencyStopMC.h>
Inheritance diagram for EmergencyStopMC:
![]() Detailed Descriptionoverrides all joints with high priority freeze, blinks tail pink/red/blue cycleUses 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
Member Function Documentation
checks for feedback or double tap
Reimplemented from PostureMC. Definition at line 55 of file EmergencyStopMC.cc.
allows you to modify paused
Definition at line 165 of file EmergencyStopMC.cc. Referenced by updateOutputs().
code to execute when locking joints
Definition at line 184 of file EmergencyStopMC.cc. Referenced by setActive(), and setStopped().
code to execute when releasing joints
Definition at line 241 of file EmergencyStopMC.cc. Referenced by setActive(), and setStopped().
true when the trigger condition is active
Definition at line 249 of file EmergencyStopMC.cc. Referenced by updateOutputs().
Member Data Documentation
number of milliseconds to fade out lock on joints
Definition at line 44 of file EmergencyStopMC.h. Referenced by releaseJoints(), and updateOutputs().
true if the joints are current locked up
Definition at line 46 of file EmergencyStopMC.h. Referenced by getStopped(), setActive(), setStopped(), and updateOutputs().
true if the back button was down on last updateJointCmds
Definition at line 47 of file EmergencyStopMC.h. Referenced by updateOutputs().
true if the EmergencyStopMC is monitoring the back button (if false, won't pause on a double-tap)
Definition at line 48 of file EmergencyStopMC.h. Referenced by getActive(), setActive(), and setStopped().
period of cycles on tail LEDs
Definition at line 49 of file EmergencyStopMC.h. Referenced by EmergencyStopMC(), and updateOutputs().
time of the last button press
Definition at line 50 of file EmergencyStopMC.h. Referenced by updateOutputs().
time of the current button press
Definition at line 51 of file EmergencyStopMC.h. Referenced by updateOutputs().
the time estop was last turned on
Definition at line 52 of file EmergencyStopMC.h. Referenced by freezeJoints(), releaseJoints(), and updateOutputs().
the time estop was last turned off (may be in the future if still fading out control of joints!)
Definition at line 53 of file EmergencyStopMC.h. Referenced by releaseJoints(), and updateOutputs().
the maximum time (in milliseconds) of consecutive button-down's to count as a double tap
Definition at line 54 of file EmergencyStopMC.h. Referenced by getDblTapDuration(), setDblTapDuration(), and updateOutputs().
a running average of PID feedback ("duty"), so one bad reading doesn't cause a movement, need a consistent pressure
Definition at line 55 of file EmergencyStopMC.h. Referenced by EmergencyStopMC(), freezeJoints(), and updateOutputs().
abs pid duty cycle above which we just reset joint to current
Definition at line 56 of file EmergencyStopMC.h. Referenced by getResetSensitivity(), setResetSensitivity(), and updateOutputs().
used to do LED effects on the tail
Definition at line 57 of file EmergencyStopMC.h. Referenced by EmergencyStopMC(), and updateOutputs().
The documentation for this class was generated from the following files: |
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