openFrameworksArduino
Public Member Functions | Public Attributes | Protected Member Functions | Protected Attributes | List of all members
ofArduino Class Reference
Inheritance diagram for ofArduino:
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Collaboration diagram for ofArduino:
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Public Member Functions

virtual bool connect (std::string device, int baud=57600)
 
virtual void disconnect ()
 
virtual bool isArduinoReady ()
 
virtual void setUseDelay (bool bDelay)
 
virtual void update ()
 
virtual bool isInitialized ()
 
virtual void setDigitalHistoryLength (int length)
 
virtual void setAnalogHistoryLength (int length)
 
virtual void setStringHistoryLength (int length)
 
virtual void setSysExHistoryLength (int nSysEx)
 
virtual void sendDigitalPinMode (int pin, int mode)
 
virtual void sendAnalogPinReporting (int pin, int mode)
 
virtual void sendDigital (int pin, int value, bool force=false)
 
virtual void sendPwm (int pin, int value, bool force=false)
 
virtual void sendSysEx (int command, std::vector< unsigned char > data)
 
virtual void sendString (std::string str)
 
virtual void sendProtocolVersionRequest ()
 
virtual void sendFirmwareVersionRequest ()
 
virtual void sendReset ()
 
virtual void sendSysExBegin ()
 
virtual void sendSysExEnd ()
 
virtual void sendByte (unsigned char value)
 
virtual void sendValueAsTwo7bitBytes (int value)
 
virtual int getPwm (int pin)
 
virtual int getDigital (int pin)
 
virtual int getAnalog (int pin)
 
virtual std::vector< unsigned char > getSysEx ()
 
virtual std::string getString ()
 
virtual int getMajorProtocolVersion ()
 
virtual int getMinorProtocolVersion ()
 
virtual int getMajorFirmwareVersion ()
 
virtual int getMinorFirmwareVersion ()
 
virtual std::string getFirmwareName ()
 
virtual std::list< int > * getDigitalHistory (int pin)
 
virtual std::list< int > * getAnalogHistory (int pin)
 
virtual std::list< std::vector< unsigned char > > * getSysExHistory ()
 
virtual std::list< std::string > * getStringHistory ()
 
virtual int makeWord (unsigned char low, unsigned char high)
 
virtual unsigned char getLowByte (int val)
 
virtual unsigned char getHighByte (int val)
 
int getDigitalPinMode (int pin)
 
int getAnalogPinReporting (int pin)
 
int getValueFromTwo7bitBytes (unsigned char lsb, unsigned char msb)
 
unsigned int getByteFromDataIterator (std::vector< unsigned char >::iterator &it, std::vector< unsigned char >::iterator &end)
 
unsigned int GetWordFromDataIterator (std::vector< unsigned char >::iterator &it, std::vector< unsigned char >::iterator &end)
 
virtual void sendServo (int pin, int value, bool force=false)
 
virtual void sendServoAttach (int pin, int minPulse=544, int maxPulse=2400, int angle=180)
 
virtual void sendServoDetach (int pin)
 
virtual int getServo (int pin)
 
virtual void sendDynamixelServoAttach (unsigned char servo)
 
virtual void sendDynamixelServoDetach (unsigned char servo)
 
virtual void sendDynamixelSynchMoveStart ()
 
virtual void sendDynamixelSynchMoveAdd (unsigned char servo, int pos, int speed)
 
virtual void sendDynamixelSynchMoveExecute ()
 
virtual void sendDynamixelMove (unsigned char servo, int pos, int speed)
 
virtual void sendDynamixelStop (unsigned char servo)
 
virtual void sendDynamixelSetRegister (unsigned char servo, unsigned char reg, unsigned char length, unsigned int value)
 
virtual void sendDynamixelGetRegister (unsigned char servo, unsigned char reg, unsigned char length)
 
virtual void sendDynamixelConfigureServo (unsigned char servo, unsigned int cwlimit, unsigned int ccwlimit, unsigned int maxtorque, unsigned char delaytime, unsigned char cwcomplmargin, unsigned char ccwcomplmargin, unsigned char cwcomplslope, unsigned char ccwcomplslope)
 
virtual void sendDynamixelStopped (unsigned char servo)
 
virtual bool waitForSysExMessage (unsigned char cmd, unsigned int timeout_sec=1)
 

Public Attributes

ofDynamixelData _dynamixelServos [MAX_DYNAMIXEL_SERVOS]
 
ofCommanderData _commanderData
 
boost::signals2::signal< void(const int)> EDigitalPinChanged
 
boost::signals2::signal< void(const int)> EAnalogPinChanged
 
boost::signals2::signal< void(const std::vector< unsigned char >)> ESysExReceived
 
boost::signals2::signal< void(const int)> EProtocolVersionReceived
 
boost::signals2::signal< void(const int)> EFirmwareVersionReceived
 
boost::signals2::signal< void(const int)> EInitialized
 
boost::signals2::signal< void(const std::string)> EStringReceived
 
boost::signals2::signal< void(const int)> EDynamixelAllReceived
 
boost::signals2::signal< void(const int)> EDynamixelKeyReceived
 
boost::signals2::signal< void(const int, const int)> EDynamixelTransmitError
 
boost::signals2::signal< void(const unsigned char, const unsigned char, const unsigned int)> EDynamixelGetRegister
 
boost::signals2::signal< void(const int)> EDynamixelStopped
 
boost::signals2::signal< void(const int)> ECommanderDataReceived
 

Protected Member Functions

void initPins ()
 
virtual void sendDigitalPinReporting (int pin, int mode)
 
virtual void sendDigitalPortReporting (int port, int mode)
 
virtual void processData (unsigned char inputData)
 
virtual void processDigitalPort (int port, unsigned char value)
 
virtual void processSysExData (std::vector< unsigned char > data)
 
virtual void checkIncomingSysExMessage (unsigned char cmd)
 

Protected Attributes

bool _initialized
 
int _totalDigitalPins
 
ofSerial _port
 
int _portStatus
 
int _analogHistoryLength
 
int _digitalHistoryLength
 
int _stringHistoryLength
 
int _sysExHistoryLength
 
int _waitForData
 
int _executeMultiByteCommand
 
int _multiByteChannel
 
unsigned char _storedInputData [FIRMATA_MAX_DATA_BYTES]
 
std::vector< unsigned char > _sysExData
 
int _majorProtocolVersion
 
int _minorProtocolVersion
 
int _majorFirmwareVersion
 
int _minorFirmwareVersion
 
std::string _firmwareName
 
bool _firmwareReceived
 
int _firmwareVersionSum
 
std::list< std::vector< unsigned char > > _sysExHistory
 
std::list< std::string > _stringHistory
 
std::list< int > _analogHistory [ARD_TOTAL_ANALOG_PINS]
 
std::list< int > _digitalHistory [ARD_TOTAL_DIGITAL_PINS]
 
int _digitalPinMode [ARD_TOTAL_DIGITAL_PINS]
 
int _digitalPinValue [ARD_TOTAL_DIGITAL_PINS]
 
int _digitalPortValue [ARD_TOTAL_PORTS]
 
int _digitalPortReporting [ARD_TOTAL_PORTS]
 
int _digitalPinReporting [ARD_TOTAL_DIGITAL_PINS]
 
int _analogPinReporting [ARD_TOTAL_ANALOG_PINS]
 
bool bUseDelay
 
bool connected
 
int _servoValue [ARD_TOTAL_DIGITAL_PINS]
 
boost::timer _Timer
 
int _dynamixelMoveAdds
 
int _waitingForSysExMessage
 
bool _sysExMessageFound
 
The documentation for this class was generated from the following files:
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