TeensySerial Class Reference

#include <teensy_serial.h>

Public Member Functions
	TeensySerial (int _number_of_motors)
	~TeensySerial ()
bool	areControlCommandsAvailable ()
	Checks if there is any available data on the serial port. More...
void	receiveControlCommands (double &_control_command_type, double *_control_commands)
	Reads control command data available on the serial command and stores it. More...
void	sendStates (double *_joint_positions, double *_joint_velocities, double *_joint_torques)
	Sends the joint states to the serial line. More...
void	printTxBuffer ()

Private Attributes
int	number_of_motors
	Number of motors. More...
int	tx_buffer_size
	Transmit buffer size. More...
int	rx_buffer_size
	Receive buffer size. More...
unsigned char *	rx_buffer
	Receive buffer. More...
unsigned char *	tx_buffer
	Transmit buffer. More...

Detailed Description

Definition at line 6 of file teensy_serial.h.

Constructor & Destructor Documentation

TeensySerial()

TeensySerial::TeensySerial

(

int

_number_of_motors

)

Definition at line 3 of file teensy_serial.cpp.

~TeensySerial()

TeensySerial::~TeensySerial

(

)

Definition at line 24 of file teensy_serial.cpp.

Member Function Documentation

areControlCommandsAvailable()

bool TeensySerial::areControlCommandsAvailable

(

)

Checks if there is any available data on the serial port.

Returns

If there is data available on the serial line true is returned, otherwise false

Definition at line 33 of file teensy_serial.cpp.

receiveControlCommands()

void TeensySerial::receiveControlCommands	(	double &	_control_command_type,
		double *	_control_commands
	)

Reads control command data available on the serial command and stores it.

Parameters

[out]	_control_command_type	A variable indicating whether position, velocity, or torque control should be used
[out]	_control_commands	An array of control command values

Definition at line 48 of file teensy_serial.cpp.

sendStates()

void TeensySerial::sendStates	(	double *	_joint_positions,
		double *	_joint_velocities,
		double *	_joint_torques
	)

Sends the joint states to the serial line.

Parameters

[out]	_joint_positions	An array of measured joint positions from the motor
[out]	_joint_velocities	An array of measured joint velocities from the motor
[out]	_joint_torques	An array of measured joint torques from the motor

Definition at line 92 of file teensy_serial.cpp.

printTxBuffer()

void TeensySerial::printTxBuffer

(

)

Definition at line 120 of file teensy_serial.cpp.

Member Data Documentation

number_of_motors

int TeensySerial::number_of_motors

private

Number of motors.

Definition at line 33 of file teensy_serial.h.

tx_buffer_size

int TeensySerial::tx_buffer_size

private

Transmit buffer size.

Definition at line 36 of file teensy_serial.h.

rx_buffer_size

int TeensySerial::rx_buffer_size

private

Receive buffer size.

Definition at line 39 of file teensy_serial.h.

rx_buffer

unsigned char* TeensySerial::rx_buffer

private

Receive buffer.

Definition at line 42 of file teensy_serial.h.

tx_buffer

unsigned char* TeensySerial::tx_buffer

private

Transmit buffer.

Definition at line 45 of file teensy_serial.h.

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

• Arduino/libraries/teensy_serial/teensy_serial.h
• Arduino/libraries/teensy_serial/teensy_serial.cpp