BoBRobotics::Robots::Gantry Class Reference

An interface for the robot gantry system at the University of Sussex. More...

#include <gantry.h>

Public Member Functions
	Gantry (BYTE boardId=0)
	Open the PCI device and set drive parameters.
void	raiseAndHome ()
	Returns the gantry to its home position, raising the gantry head first. More...
void	home (BYTE axis=XYZ_Axis) const
	Returns the gantry to its home position. More...
bool	isEmergencyButtonPressed () const
	Check if either of the emergency buttons are pressed down.
Vector3< millimeter_t >	getPosition () const
	Get the current position of the gantry in the arena.
std::array< meters_per_second_t, 3 >	getVelocity ()
	Get the gantry's current velocity.
void	setPosition (millimeter_t x, millimeter_t y, millimeter_t z)
	Set the position of the gantry in the arena. More...
void	stopMoving (BYTE axis=XYZ_Axis) const noexcept
	Stop the gantry moving, optionally specifying a specific axis.
bool	isMoving (BYTE axis=XYZ_Axis) const
	Check if the gantry is moving.
void	waitToStopMoving (BYTE axis=XYZ_Axis) const
	Wait until the gantry has stopped moving.

Detailed Description

An interface for the robot gantry system at the University of Sussex.

Member Function Documentation

home()

void BoBRobotics::Robots::Gantry::home ( BYTE  axis = XYZ_Axis ) const

inline

Returns the gantry to its home position.

!

Home position is (0, 0, 0). The gantry needs to be homed before use so that it can reset its estimate of its position. This function does not block.

raiseAndHome()

void BoBRobotics::Robots::Gantry::raiseAndHome ( )

inline

Returns the gantry to its home position, raising the gantry head first.

!

Home position is (0, 0, 0). The robot gantry will be raised before homing so that it does not collide with objects in the arena. The gantry needs to be homed before use so that it can reset its estimate of its position. This function blocks until the gantry is homed.

setPosition()

void BoBRobotics::Robots::Gantry::setPosition ( millimeter_t  x, millimeter_t  y, millimeter_t  z  )

inline

Set the position of the gantry in the arena.

!

This function does not block.

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

• include/robots/gantry.h