Diff: RobotArm.h

Revision:

7:6723f6887d00

Parent:

5:36916b1c5a06

Child:

8:d98e2dec0f40

--- a/RobotArm.h	Mon Dec 28 17:29:12 2015 +0000
+++ b/RobotArm.h	Tue Dec 29 23:31:28 2015 +0000
@@ -36,15 +36,13 @@
     IS_SendStatus       = 0x2
 };
 
+
 class RobotArm
 {
 public:
     
     RobotArm();
     
-    // move all parts to specified postions in ms time
-    bool MoveArmPositions(vector<float> positions, int ms, int steps);
-
     // start - move all parts to specified postions in ms time
     bool MoveArmPositionsStart(vector<float> positions, int ms);
 
@@ -52,16 +50,16 @@
     bool MoveArmPositionsHasNext();
     
     // start - move all parts to specified postions - next step
-    bool MoveArmPositionsNext(int& nextdelay);
+    bool MoveArmPositionsNext();
+
+    // start - move all parts to specified postions - next delay
+    bool MoveArmPositionsDelay(int& nextdelay);
 
     // start - move all parts to specified postions - finish
     bool MoveArmPositionsEnd();
     
     // start - test if positions are close to expected
-    bool TestArmPosition(int& partix, float& diffpos);
-    
-    // move one part to specified postion in ms time
-    bool MovePartPosition(int partIx, float position, int ms, int steps);
+    bool MoveArmPositionTest();
     
     // get all parts positions
     bool GetArmPositions(vector<float>& outPos);
@@ -69,17 +67,11 @@
     // get all parts last positions
     bool GetArmLastPositions(vector<float>& outPos);
     
-    // get one part position
-    float GetPartPosition(int partIx);
-    
     // get all parts for a measurement
     bool GetArmMeasure(int measureId, vector<float>& outPos);
     
     // get all parts last measurement
     bool GetArmLastMeasure(int measureId, vector<float>& outPos);
-    
-    // get one part measurement
-    float GetPartMeasure(int measureId, int partIx);
    
     int GetNumParts();
     
@@ -93,11 +85,17 @@
     RobotNode* GetArmPart(int partIx);
     
     // get last error code from action
-    unsigned char GetLastError();
+    int GetLastError();
     
     // get index of part with error
     int GetLastErrorPart();
     
+    // get size of position diff (valid if error)
+    float GetLastPosDiff();
+    
+    // set allwable position diff
+    void SetAllowance(float allow);
+    
 private:
     // sensors and actuators
     RobotNode* _armParts[MAX_PARTS];
@@ -112,6 +110,10 @@
     
     // part ix for last error
     int _lastErrorPart;
+    // last HW error
+    int _lastError;
+    // last position error
+    float _lastPosDiff;
     
     // for thread friendly moves
     vector<float> lastpos;
@@ -119,7 +121,9 @@
     vector<float> lastgoals;
     
     // allowance for difference between expected pos and actual pos
-    static const float allowance = 1.0f;
+    float allowance;
+    // keep track of time period when position is off
+    int failms;
     
     int numsteps;
     int curstep;