Manages the Firmata connection to an Arduino running the Stepper Controller program. More...

#include <arduino_stepper_controller.hpp>

Inheritance diagram for ArduinoStepperController:

Collaboration diagram for ArduinoStepperController:

Public Member Functions
	ArduinoStepperController ()
	Initializes an ArduinoStepperController.

	~ArduinoStepperController () noexcept override
	Destroys an ArduinoStepperController.

bool	sendEcho (const std::vector< uint8_t > &payload)
	Sends a SysexCommands::ARDUINO_ECHO command with the provided payload. More...

bool	setSpeed (const uint8_t motor, const int16_t speed)
	Sends a SysexCommands::SET_SPEED command to set the speed of a motor. More...

bool	getSpeed (const uint8_t motor)
	Sends a SysexCommands::GET_SPEED command to query the speed of a motor. More...

bool	sendStep (const uint8_t motor, const uint16_t num_steps, const int16_t speed)
	Sends a SysexCommands::SEND_STEP command to move a motor a fixed number of steps. More...

bool	seekPosition (const uint8_t motor, const int32_t position, const int16_t speed)
	Sends a SysexCommands::SEEK_POS command to move a motor to specific step position. More...

bool	getPosition (const uint8_t motor)
	Sends a SysexCommands::GET_POS command to query the current position of a motor. More...

bool	setGripper (const uint8_t position)
	Sends a SysexCommands::SET_GRIPPER command to set the target position of the gripper servo. More...

bool	isSetup () const
	Returns whether the connection to the stepper controller Arduino has been fully established. More...

Public Attributes
boost::signals2::signal< void(void)>	ESetup
	Boost signal triggered once this ArduinoStepperController is fully setup.

boost::signals2::signal< void(std::vector< uint8_t >)>	EArduinoEcho
	Boost signal triggered when sendEcho responses are received.

boost::signals2::signal< void(uint8_t, int16_t)>	ESetSpeed
	Boost signal triggered when setSpeed responses are received.

boost::signals2::signal< void(uint8_t, int16_t)>	EGetSpeed
	Boost signal triggered when getSpeed responses are received.

boost::signals2::signal< void(uint8_t, uint16_t, int16_t)>	ESendStep
	Boost signal triggered when sendStep responses are received.

boost::signals2::signal< void(uint8_t, int32_t, int16_t)>	ESeekPosition
	Boost signal triggered when seekPosition responses are received.

boost::signals2::signal< void(uint8_t, int32_t)>	EGetPosition
	Boost signal triggered when getPosition responses are received.

boost::signals2::signal< void(uint8_t)>	ESetGripper
	Boost signal triggered when setGripper responses are received.

Protected Member Functions
void	setupArduino (const int &version)
	Completes configuration of the Stepper Controller Arduino once a Firmata link has been established. More...

void	handleSysex (const std::vector< unsigned char > &message)
	Handles System-Exclusive (Sysex) messages received on the Firmata link with the Stepper Controller Arduino. More...

Protected Attributes
boost::signals2::connection	connectionInitialized
	Boost signal triggered when the initial Firmata connection is established. More...

Signal Processing Helper Functions

Helper functions for decoding the parameters of Sysex commands processed by handleSysex before forwarding to their associated signal.

Parameters

message the de-firmatified Sysex payload

void handleEArduinoEcho (const std::vector< unsigned char > &message)

void handleESetSpeed (const std::vector< unsigned char > &message)

void handleEGetSpeed (const std::vector< unsigned char > &message)

void handleESendStep (const std::vector< unsigned char > &message)

void handleESeekPosition (const std::vector< unsigned char > &message)

void handleEGetPosition (const std::vector< unsigned char > &message)

void handleESetGripper (const std::vector< unsigned char > &message)

Detailed Description

Manages the Firmata connection to an Arduino running the Stepper Controller program.

Responses are conveyed through Boost signals.

Member Function Documentation

◆ getPosition()

bool ArduinoStepperController::getPosition ( const uint8_t motor )

Sends a SysexCommands::GET_POS command to query the current position of a motor.

Parameters

motor the ID of the motor to query

Returns: true if successfully written to the serial connection

◆ getSpeed()

bool ArduinoStepperController::getSpeed ( const uint8_t motor )

Sends a SysexCommands::GET_SPEED command to query the speed of a motor.

Response callbacks are available through EGetSpeed.

Parameters

motor the ID of the motor to query

Returns: true if successfully written to the serial connection

◆ handleSysex()

void ArduinoStepperController::handleSysex ( const std::vector< unsigned char > & message )

protected

Handles System-Exclusive (Sysex) messages received on the Firmata link with the Stepper Controller Arduino.

Parameters

message the message payload

◆ isSetup()

bool ArduinoStepperController::isSetup ( ) const

Returns whether the connection to the stepper controller Arduino has been fully established.

Returns: true if so

◆ seekPosition()

bool ArduinoStepperController::seekPosition	(	const uint8_t	motor,
		const int32_t	position,
		const int16_t	speed
	)

Sends a SysexCommands::SEEK_POS command to move a motor to specific step position.

Since this command seeks a position, the sign of the speed is ignored.

Parameters

motor	the ID of the motor to move
position	the target position in number of steps from the motor's zero point
speed	the signed target speed to move the motor at, in 1/10 RPM. Note that the absolute value is taken.

Returns: true if successfully written to the serial connection

◆ sendEcho()

bool ArduinoStepperController::sendEcho ( const std::vector< uint8_t > & payload )

Sends a SysexCommands::ARDUINO_ECHO command with the provided payload.

Response callbacks are available through EArduinoEcho.

Parameters

payload byte vector to echo off the Stepper Controller Arduino

Returns: true if successfully written to the serial connection

◆ sendStep()

bool ArduinoStepperController::sendStep	(	const uint8_t	motor,
		const uint16_t	num_steps,
		const int16_t	speed
	)

Sends a SysexCommands::SEND_STEP command to move a motor a fixed number of steps.

Direction is controlled by the sign of the target speed. Response callbacks are available through ESendStep.

Parameters

motor	the ID of the motor to move
num_steps	the number of steps to move
speed	the signed target speed to move the motor at, in 1/10 RPM

Returns: true if successfully written to the serial connection

◆ setGripper()

bool ArduinoStepperController::setGripper ( const uint8_t position )

Sends a SysexCommands::SET_GRIPPER command to set the target position of the gripper servo.

Response callbacks are available through ESetGripper.

Parameters

position the target servo angle, mapped to [0, 180]

Returns: true if successfully written to the serial connection

◆ setSpeed()

bool ArduinoStepperController::setSpeed	(	const uint8_t	motor,
		const int16_t	speed
	)

Sends a SysexCommands::SET_SPEED command to set the speed of a motor.

Response callbacks are available through ESetSpeed.

Parameters

motor	the ID of the motor to control
speed	the signed target speed to set the motor to, in 1/10 RPM

Returns: true if successfully written to the serial connection

◆ setupArduino()

void ArduinoStepperController::setupArduino ( const int & version )

protected

Completes configuration of the Stepper Controller Arduino once a Firmata link has been established.

Parameters

version the Firmata version supplied with the connectionInitialized response

Member Data Documentation

◆ connectionInitialized

boost::signals2::connection ArduinoStepperController::connectionInitialized

protected

Boost signal triggered when the initial Firmata connection is established.

Should immediately call setupArduino.

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

include/umrt-arm-firmware-lib/arduino_stepper_controller.hpp
src/arduino_stepper_controller.cpp

Public Member Functions

Public Attributes

Protected Member Functions

Protected Attributes

Signal Processing Helper Functions

Detailed Description

Member Function Documentation

◆ getPosition()

◆ getSpeed()

◆ handleSysex()

◆ isSetup()

◆ seekPosition()

◆ sendEcho()

◆ sendStep()

◆ setGripper()

◆ setSpeed()

◆ setupArduino()

Member Data Documentation

◆ connectionInitialized