include

bhfinger.h File Reference

#include <iostream>
#include <string>
#include "bhcontroller.h"
#include "bhmotorext.h"
#include "zlog.h"

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Data Structures

class  BHFinger
 This class is designed to controll each finger. This class contains the informations for the movements and forces of one finger, and the methods to controll these values. More...
class  BHFingerException

Defines

#define DEFAULT_FINGER_SPEED   60
#define DEFAULT_GAIN   0
#define INIT_FORCE_MAX   140
#define INIT_FORCE_MIN   100
#define MAX_FINGER_FORCE   255
#define MAX_FINGER_POS   17000
#define MAX_FINGER_SPEED   124
#define MAX_FORCE_LOG   8
#define MIN_FINGER_FORCE   0
#define MIN_FINGER_POS   0
#define MIN_FINGER_SPEED   9

Variables

static const char * BHFingerException_info []

Detailed Description

Define Documentation

#define DEFAULT_FINGER_SPEED   60

Default value for speed of finger

#define DEFAULT_GAIN   0

Default Proportional Gain Value

#define INIT_FORCE_MAX   140

Maximum force that should be applied to finger without any payload.

#define INIT_FORCE_MIN   100

Minimum force that should be applied to finger without any payload.

#define MAX_FINGER_FORCE   255

Maximal allowed for for one finger

#define MAX_FINGER_POS   17000

Maximal allowed finger position. UNIT: motor counts

#define MAX_FINGER_SPEED   124

Maximum speed for finger

#define MAX_FORCE_LOG   8

Number of force value to be logged

#define MIN_FINGER_FORCE   0

Minimal allowed for for one finger

#define MIN_FINGER_POS   0

Minimal allowed finger position. UNIT: motor counts

#define MIN_FINGER_SPEED   9

Minimal required speed for finger with 15oz spannung. If speed is below this you probaly will not get any movement

Variable Documentation

const char* BHFingerException_info[] [static]

Initial value:

 {
        "Value out of range",
        "Speed out of range",
        "Position out of range.",
        "Init forces out of range.",
        "Force out of Range.",
        "Force to high.",
        "Force to low.",
        "UNDEF"}
String constants for BHFinger errors


tams Tim Baier bhandlib v0.25
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