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<div id="projectname">KatanaNativeInterface <span id="projectnumber">$VERSION$</span></div>
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<h1>CMotBase Class Reference</h1> </div>
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<!-- doxytag: class="CMotBase" -->
<p>Motor class.
<a href="#_details">More...</a></p>
<p><code>#include <<a class="el" href="kmlMotBase_8h_source.html">kmlMotBase.h</a>></code></p>
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Collaboration diagram for CMotBase:</div>
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<area shape="rect" id="node37" href="structTKatMOT.html" title="[MOT] every motor's attributes" alt="" coords="885,2043,963,2163"/><area shape="rect" id="node2" href="structTMotENL.html" title="[ENL] limits in encoder values (INTERNAL STRUCTURE!)" alt="" coords="1319,445,1436,600"/><area shape="rect" id="node4" href="structTMotSFW.html" title="[SFW] slave firmware" alt="" coords="399,445,495,600"/><area shape="rect" id="node6" href="structTMotGNL.html" title="[GNL] motor generals" alt="" coords="719,3171,796,3274"/><area shape="rect" id="node8" href="classCKatBase.html" title="Base Katana class." alt="" coords="369,2230,567,3095"/><area shape="rect" id="node20" href="structTSctGNL.html" title="[GNL] controller generals" alt="" coords="353,3163,431,3283"/><area shape="rect" id="node10" href="structTKatMFW.html" title="[MFW] master firmware version/revision number" alt="" coords="120,2051,203,2154"/><area shape="rect" id="node12" href="structTKatCBX.html" title="[CBX] connector box" alt="" coords="227,2051,304,2154"/><area shape="rect" id="node14" href="structTKatSCT.html" title="[SCT] every sens ctrl's attributes" alt="" coords="316,3605,393,3725"/><area shape="rect" id="node16" href="structTSctDesc.html" title="sensor controller description (partly)" alt="" coords="175,3384,276,3504"/><area shape="rect" id="node18" href="classCSctBase.html" title="Sensor Controller class." alt="" coords="300,3349,409,3539"/><area shape="rect" id="node23" href="structTSctDAT.html" title="[DAT] sensor data" alt="" coords="252,3171,329,3274"/><area shape="rect" id="node25" href="classCCplBase.html" title="Abstract base class for protocol definiton." alt="" coords="5,437,160,609"/><area shape="rect" id="node27" href="classCCdlBase.html" title="Abstract base class for devices." alt="" coords="28,119,137,239"/><area shape="rect" id="node29" href="structTKatCTB.html" title="[CTB] command table defined in the firmware" alt="" coords="328,2060,405,2145"/><area shape="rect" id="node31" href="structTKatECH.html" title="[ECH] echo" alt="" coords="429,2060,507,2145"/><area shape="rect" id="node33" href="structTKatEFF.html" title="Inverse Kinematics structure of the endeffektor." alt="" coords="531,2060,637,2145"/><area shape="rect" id="node35" href="structTKatGNL.html" title="[GNL] general robot attributes" alt="" coords="661,2051,765,2154"/><area shape="rect" id="node39" href="structTMotDesc.html" title="motor description (partly)" alt="" coords="761,1292,844,1377"/><area shape="rect" id="node42" href="structTKatIDS.html" title="[IDS] identification string" alt="" coords="789,2060,861,2145"/><area shape="rect" id="node45" href="structTMotInit.html" title="Initial motor parameters." alt="" coords="519,437,660,609"/><area shape="rect" id="node47" href="structTMotCLB.html" title="Calibration structure for single motors." alt="" coords="760,419,915,626"/><area shape="rect" id="node49" href="structTMotSCP.html" title="[SCP] static controller parameters" alt="" coords="679,6,828,351"/><area shape="rect" id="node51" href="structTMotDYL.html" title="[DYL] dynamic limits" alt="" coords="873,49,1007,308"/><area shape="rect" id="node53" href="structTMotPVP.html" title="[PVP] position, velocity, pulse width modulation" alt="" coords="1004,454,1081,591"/><area shape="rect" id="node55" href="structTMotAPS.html" title="[APS] actual position" alt="" coords="1105,471,1188,574"/><area shape="rect" id="node58" href="structTMotTPS.html" title="[TPS] target position" alt="" coords="1212,471,1295,574"/></map>
<center><span class="legend">[<a target="top" href="graph_legend.html">legend</a>]</span></center></div>
<p><a href="classCMotBase-members.html">List of all members.</a></p>
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<tr><td colspan="2"><h2><a name="pub-methods"></a>
Public Member Functions</h2></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">const <a class="el" href="structTMotGNL.html">TMotGNL</a> * </td><td class="memItemRight" valign="bottom"><a class="el" href="classCMotBase.html#a40aeb5bd256b758fceaf82432b1d9896">GetGNL</a> ()</td></tr>
<tr><td class="memItemLeft" align="right" valign="top">const <a class="el" href="structTMotAPS.html">TMotAPS</a> * </td><td class="memItemRight" valign="bottom"><a class="el" href="classCMotBase.html#a35532f3236b00e3d153fb9cbee454a5e">GetAPS</a> ()</td></tr>
<tr><td class="memItemLeft" align="right" valign="top">const <a class="el" href="structTMotTPS.html">TMotTPS</a> * </td><td class="memItemRight" valign="bottom"><a class="el" href="classCMotBase.html#a93c6b34fd38c3a011e65abb901ff92cc">GetTPS</a> ()</td></tr>
<tr><td class="memItemLeft" align="right" valign="top">const <a class="el" href="structTMotSCP.html">TMotSCP</a> * </td><td class="memItemRight" valign="bottom"><a class="el" href="classCMotBase.html#af656939b08aca949be6bf2dd9eb8758b">GetSCP</a> ()</td></tr>
<tr><td class="memItemLeft" align="right" valign="top">const <a class="el" href="structTMotDYL.html">TMotDYL</a> * </td><td class="memItemRight" valign="bottom"><a class="el" href="classCMotBase.html#a6216175ebd3f4e40d205b70a6972f1ce">GetDYL</a> ()</td></tr>
<tr><td class="memItemLeft" align="right" valign="top">const <a class="el" href="structTMotPVP.html">TMotPVP</a> * </td><td class="memItemRight" valign="bottom"><a class="el" href="classCMotBase.html#ada614abdc4932d4d5e907d3026d90367">GetPVP</a> ()</td></tr>
<tr><td class="memItemLeft" align="right" valign="top">const <a class="el" href="structTMotSFW.html">TMotSFW</a> * </td><td class="memItemRight" valign="bottom"><a class="el" href="classCMotBase.html#acac44d3830b023527ab16dcb143c2caf">GetSFW</a> ()</td></tr>
<tr><td class="memItemLeft" align="right" valign="top">const <a class="el" href="structTMotCLB.html">TMotCLB</a> * </td><td class="memItemRight" valign="bottom"><a class="el" href="classCMotBase.html#a49af3d94ba8870d7743973167b83ee87">GetCLB</a> ()</td></tr>
<tr><td class="memItemLeft" align="right" valign="top">const <a class="el" href="structTMotInit.html">TMotInit</a> * </td><td class="memItemRight" valign="bottom"><a class="el" href="classCMotBase.html#a13be8a88bfc39ccc789c9ccfb27db517">GetInitialParameters</a> ()</td></tr>
<tr><td class="memItemLeft" align="right" valign="top">const int </td><td class="memItemRight" valign="bottom"><a class="el" href="classCMotBase.html#ab3ae1da175114d5995ebed7d5d34ca64">GetEncoderTolerance</a> ()</td></tr>
<tr><td class="memItemLeft" align="right" valign="top">const int </td><td class="memItemRight" valign="bottom"><a class="el" href="classCMotBase.html#a2ea850f6c70732ae218fe3d92f359d49">GetEncoderMinPos</a> ()</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Returns the min Position of the Encoder. <a href="#a2ea850f6c70732ae218fe3d92f359d49"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">const int </td><td class="memItemRight" valign="bottom"><a class="el" href="classCMotBase.html#a8477c99f3fb79e72a4e0524c38f9cffb">GetEncoderMaxPos</a> ()</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Returns the max Position of the Encoder. <a href="#a8477c99f3fb79e72a4e0524c38f9cffb"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">const int </td><td class="memItemRight" valign="bottom"><a class="el" href="classCMotBase.html#a79973fcf346cb02bd9f7ffb91ea6364f">GetEncoderRange</a> ()</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Returns Encoder Range of the Encoder. <a href="#a79973fcf346cb02bd9f7ffb91ea6364f"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">const bool </td><td class="memItemRight" valign="bottom"><a class="el" href="classCMotBase.html#a8d0cccb9497191bfc64c3553cae7d4be">GetFreedom</a> ()</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Get the value of the freedom property. <a href="#a8d0cccb9497191bfc64c3553cae7d4be"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">const bool </td><td class="memItemRight" valign="bottom"><a class="el" href="classCMotBase.html#af817d72c8ee63f65b925627487697fc3">GetBlocked</a> ()</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Get the value of the blocked property. <a href="#af817d72c8ee63f65b925627487697fc3"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">const bool </td><td class="memItemRight" valign="bottom"><a class="el" href="classCMotBase.html#ae3dc25ae4527015684c18c55a328e47a">GetNmp</a> ()</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Get the value of the nmp property. <a href="#ae3dc25ae4527015684c18c55a328e47a"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">virtual </td><td class="memItemRight" valign="bottom"><a class="el" href="classCMotBase.html#a0fcdc1da04c25e6147ac409f91567fc2">~CMotBase</a> ()</td></tr>
<tr><td class="memItemLeft" align="right" valign="top">bool </td><td class="memItemRight" valign="bottom"><a class="el" href="classCMotBase.html#ab0e58f13e80f75905d0973da1661d960">init</a> (<a class="el" href="classCKatBase.html">CKatBase</a> *_own, const <a class="el" href="structTMotDesc.html">TMotDesc</a> _motDesc, <a class="el" href="classCCplBase.html">CCplBase</a> *<a class="el" href="classCMotBase.html#a19e4a6c8e319c2d815e07599092beace">protocol</a>)</td></tr>
<tr><td class="memItemLeft" align="right" valign="top">void </td><td class="memItemRight" valign="bottom"><a class="el" href="classCMotBase.html#a2826539e613394a8bc2494d18c705cef">sendAPS</a> (const <a class="el" href="structTMotAPS.html">TMotAPS</a> *_aps)</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">send data <a href="#a2826539e613394a8bc2494d18c705cef"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">void </td><td class="memItemRight" valign="bottom"><a class="el" href="classCMotBase.html#a821dc8b86d9226f840069ea16e4fb5be">sendTPS</a> (const <a class="el" href="structTMotTPS.html">TMotTPS</a> *_tps)</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">send data <a href="#a821dc8b86d9226f840069ea16e4fb5be"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">void </td><td class="memItemRight" valign="bottom"><a class="el" href="classCMotBase.html#a05e166d9a0a2e6f5e313805571d815f8">sendSCP</a> (const <a class="el" href="structTMotSCP.html">TMotSCP</a> *_scp)</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">send data <a href="#a05e166d9a0a2e6f5e313805571d815f8"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">void </td><td class="memItemRight" valign="bottom"><a class="el" href="classCMotBase.html#a664d918e22b9280096da03c4b7ae8e34">sendDYL</a> (const <a class="el" href="structTMotDYL.html">TMotDYL</a> *_dyl)</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">send data <a href="#a664d918e22b9280096da03c4b7ae8e34"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">void </td><td class="memItemRight" valign="bottom"><a class="el" href="classCMotBase.html#a6ea33789c7745099a8348972993c86be">recvPVP</a> ()</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">receive data <a href="#a6ea33789c7745099a8348972993c86be"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">void </td><td class="memItemRight" valign="bottom"><a class="el" href="classCMotBase.html#a17a73061105b669841b3033f0e3666a9">recvSCP</a> ()</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">receive data <a href="#a17a73061105b669841b3033f0e3666a9"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">void </td><td class="memItemRight" valign="bottom"><a class="el" href="classCMotBase.html#a9f84ee2e43f0dad4886e6546179357ef">recvDYL</a> ()</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">receive data <a href="#a9f84ee2e43f0dad4886e6546179357ef"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">void </td><td class="memItemRight" valign="bottom"><a class="el" href="classCMotBase.html#a8e01c936dc0a317e01f4f81892b26c37">recvSFW</a> ()</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">receive data <a href="#a8e01c936dc0a317e01f4f81892b26c37"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">void </td><td class="memItemRight" valign="bottom"><a class="el" href="classCMotBase.html#af06800796d9045c7019c3041d274c5f6">setSCP</a> (<a class="el" href="structTMotSCP.html">TMotSCP</a> _scp)</td></tr>
<tr><td class="memItemLeft" align="right" valign="top">void </td><td class="memItemRight" valign="bottom"><a class="el" href="classCMotBase.html#acad3c21151fdfc3d4ba96de49bd18358">setDYL</a> (<a class="el" href="structTMotDYL.html">TMotDYL</a> _dyl)</td></tr>
<tr><td class="memItemLeft" align="right" valign="top">void </td><td class="memItemRight" valign="bottom"><a class="el" href="classCMotBase.html#abc72d9d547dc7bd31c08b8c33f917f04">setTPSP</a> (int tar)</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">parallel movement <a href="#abc72d9d547dc7bd31c08b8c33f917f04"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">void </td><td class="memItemRight" valign="bottom"><a class="el" href="classCMotBase.html#a416dc9f0f913b03b9edd7280ef9758fc">setTPSPDegrees</a> (double tar)</td></tr>
<tr><td class="memItemLeft" align="right" valign="top">void </td><td class="memItemRight" valign="bottom"><a class="el" href="classCMotBase.html#ac0f4454dfd9799e42cd506664c5e4ad6">resetTPSP</a> ()</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">parallel movement <a href="#ac0f4454dfd9799e42cd506664c5e4ad6"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">void </td><td class="memItemRight" valign="bottom"><a class="el" href="classCMotBase.html#a78460a751845d9ab8878b6912431b610">setInitialParameters</a> (double angleOffset, double angleRange, int encodersPerCycle, int encoderOffset, int rotationDirection)</td></tr>
<tr><td class="memItemLeft" align="right" valign="top">void </td><td class="memItemRight" valign="bottom"><a class="el" href="classCMotBase.html#affc418ac28cfa599574a652d670173b1">setCalibrationParameters</a> (bool doCalibration, short order, <a class="el" href="kmlMotBase_8h.html#adef107e616c782dbe7138446a2edf71b">TSearchDir</a> direction, <a class="el" href="kmlMotBase_8h.html#a1b93f23a077cc22845f59079c30ef343">TMotCmdFlg</a> motorFlagAfter, int encoderPositionAfter)</td></tr>
<tr><td class="memItemLeft" align="right" valign="top">void </td><td class="memItemRight" valign="bottom"><a class="el" href="classCMotBase.html#a7519299c08684c77b406e9e1caf57ea3">setCalibrated</a> (bool calibrated)</td></tr>
<tr><td class="memItemLeft" align="right" valign="top">void </td><td class="memItemRight" valign="bottom"><a class="el" href="classCMotBase.html#a5b888b504b2461f55828e142ed404c17">setTolerance</a> (int tolerance)</td></tr>
<tr><td class="memItemLeft" align="right" valign="top">bool </td><td class="memItemRight" valign="bottom"><a class="el" href="classCMotBase.html#ae039df23506c08e1afced42e27f07c28">checkAngleInRange</a> (double angle)</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">check limits in encoder values <a href="#ae039df23506c08e1afced42e27f07c28"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">bool </td><td class="memItemRight" valign="bottom"><a class="el" href="classCMotBase.html#a61bc93d7d08766bd9802e1cf3318e47c">checkEncoderInRange</a> (int encoder)</td></tr>
<tr><td class="memItemLeft" align="right" valign="top">void </td><td class="memItemRight" valign="bottom"><a class="el" href="classCMotBase.html#abe6e966103987cdb1237dfe699f3c0ae">inc</a> (int dif, bool wait=false, int tolerance=100, long timeout=TM_ENDLESS)</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Increments the motor specified by an index postion in encoder units. <a href="#abe6e966103987cdb1237dfe699f3c0ae"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">void </td><td class="memItemRight" valign="bottom"><a class="el" href="classCMotBase.html#ac6dd19b239114109c72c09d8328ab38e">dec</a> (int dif, bool wait=false, int tolerance=100, long timeout=TM_ENDLESS)</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Decrements the motor specified by an index postion in encoder units. <a href="#ac6dd19b239114109c72c09d8328ab38e"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">void </td><td class="memItemRight" valign="bottom"><a class="el" href="classCMotBase.html#a265fb800411933d77d68ec51874b3c44">mov</a> (int tar, bool wait=false, int tolerance=100, long timeout=TM_ENDLESS)</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Moves the motor specified by an index to a given target position in encoder units. <a href="#a265fb800411933d77d68ec51874b3c44"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">void </td><td class="memItemRight" valign="bottom"><a class="el" href="classCMotBase.html#af7653527cb4ee6c5598efa91961c03c0">waitForMotor</a> (int tar, int encTolerance=100, short mode=0, int waitTimeout=TM_ENDLESS)</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Waits until the Motor has reached the given targen position. <a href="#af7653527cb4ee6c5598efa91961c03c0"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">void </td><td class="memItemRight" valign="bottom"><a class="el" href="classCMotBase.html#a9e585a5ba8a4d5cd66932ff24de69cd5">incDegrees</a> (double dif, bool wait=false, int tolerance=100, long timeout=TM_ENDLESS)</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Increments the motor specified by an index postion in degrees. <a href="#a9e585a5ba8a4d5cd66932ff24de69cd5"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">void </td><td class="memItemRight" valign="bottom"><a class="el" href="classCMotBase.html#a0657c3dd43a795d260cf2a2fa074ac01">decDegrees</a> (double dif, bool wait=false, int tolerance=100, long timeout=TM_ENDLESS)</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Decrements the motor specified by an index postion in degrees. <a href="#a0657c3dd43a795d260cf2a2fa074ac01"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">void </td><td class="memItemRight" valign="bottom"><a class="el" href="classCMotBase.html#a82c0585ef98f10f9142dbaf80067410e">movDegrees</a> (double tar, bool wait=false, int tolerance=100, long timeout=TM_ENDLESS)</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Moves the motor specified by an index to a given target position in degrees. <a href="#a82c0585ef98f10f9142dbaf80067410e"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">void </td><td class="memItemRight" valign="bottom"><a class="el" href="classCMotBase.html#ae73e9a88150c38b4b8084694eda6dfc8">resetBlocked</a> ()</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">unblock the motor. <a href="#ae73e9a88150c38b4b8084694eda6dfc8"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">void </td><td class="memItemRight" valign="bottom"><a class="el" href="classCMotBase.html#acdca375dd382b9c4b652a5f6059f7ac8">sendSpline</a> (short targetPosition, short duration, short p1, short p2, short p3, short p4)</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Send one spline to the motor. <a href="#acdca375dd382b9c4b652a5f6059f7ac8"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">void </td><td class="memItemRight" valign="bottom"><a class="el" href="classCMotBase.html#ab92f196f98562245ff838d451378d3e1">sendFourSplines</a> (short targetPosition, short duration, std::vector< short > &coefficients)</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Send four splines to the motor. <a href="#ab92f196f98562245ff838d451378d3e1"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">void </td><td class="memItemRight" valign="bottom"><a class="el" href="classCMotBase.html#a53b0d756597b99de6292573457af7301">setSpeedLimits</a> (short positiveVelocity, short negativeVelocity)</td></tr>
<tr><td class="memItemLeft" align="right" valign="top">void </td><td class="memItemRight" valign="bottom"><a class="el" href="classCMotBase.html#a5933a4969e35d68d0d45f51e010fee30">setSpeedLimit</a> (short velocity)</td></tr>
<tr><td class="memItemLeft" align="right" valign="top">void </td><td class="memItemRight" valign="bottom"><a class="el" href="classCMotBase.html#a756477d12ee5386f92df9c2bc234fed0">setAccelerationLimit</a> (short acceleration)</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Set the acceleration limits. <a href="#a756477d12ee5386f92df9c2bc234fed0"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">void </td><td class="memItemRight" valign="bottom"><a class="el" href="classCMotBase.html#a39e20a392f33fdac6a1642c659d93ec1">setPwmLimits</a> (<a class="el" href="cdlBase_8h.html#a0c8186d9b9b7880309c27230bbb5e69d">byte</a> maxppwm, <a class="el" href="cdlBase_8h.html#a0c8186d9b9b7880309c27230bbb5e69d">byte</a> maxnpwm)</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Set the PWM limits. <a href="#a39e20a392f33fdac6a1642c659d93ec1"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">void </td><td class="memItemRight" valign="bottom"><a class="el" href="classCMotBase.html#a67e5bd920dba6f36fbab474afac6bd26">setControllerParameters</a> (<a class="el" href="cdlBase_8h.html#a0c8186d9b9b7880309c27230bbb5e69d">byte</a> kSpeed, <a class="el" href="cdlBase_8h.html#a0c8186d9b9b7880309c27230bbb5e69d">byte</a> kPos, <a class="el" href="cdlBase_8h.html#a0c8186d9b9b7880309c27230bbb5e69d">byte</a> kI)</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Set the controller parameters. <a href="#a67e5bd920dba6f36fbab474afac6bd26"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">void </td><td class="memItemRight" valign="bottom"><a class="el" href="classCMotBase.html#aa68b0ab656724023ff302d3963cbbf01">setCrashLimit</a> (int limit)</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Set the crash limit. <a href="#aa68b0ab656724023ff302d3963cbbf01"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">void </td><td class="memItemRight" valign="bottom"><a class="el" href="classCMotBase.html#acfe0f64dff25cf53abc7824f6bff9d51">setCrashLimitLinear</a> (int limit_lin)</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Set the crash limit linear. <a href="#acfe0f64dff25cf53abc7824f6bff9d51"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">void </td><td class="memItemRight" valign="bottom"><a class="el" href="classCMotBase.html#a1fc4a7c4e0b6bc39da29061668003c14">setSpeedCollisionLimit</a> (int limit)</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Set the collision limit. <a href="#a1fc4a7c4e0b6bc39da29061668003c14"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">void </td><td class="memItemRight" valign="bottom"><a class="el" href="classCMotBase.html#a726b7d8d41bdcdcd0f28ce53bc75c20a">setPositionCollisionLimit</a> (int limit)</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Set the collision limit. <a href="#a726b7d8d41bdcdcd0f28ce53bc75c20a"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">void </td><td class="memItemRight" valign="bottom"><a class="el" href="classCMotBase.html#a59ad8d549a687a44541663f12f2523c8">getParameterOrLimit</a> (int subcommand, <a class="el" href="cdlBase_8h.html#a0c8186d9b9b7880309c27230bbb5e69d">byte</a> *R1, <a class="el" href="cdlBase_8h.html#a0c8186d9b9b7880309c27230bbb5e69d">byte</a> *R2, <a class="el" href="cdlBase_8h.html#a0c8186d9b9b7880309c27230bbb5e69d">byte</a> *R3)</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Get parameters or limits. <a href="#a59ad8d549a687a44541663f12f2523c8"></a><br/></td></tr>
<tr><td colspan="2"><h2><a name="pro-attribs"></a>
Protected Attributes</h2></td></tr>
<tr><td class="memItemLeft" align="right" valign="top"><a class="el" href="structTMotGNL.html">TMotGNL</a> </td><td class="memItemRight" valign="bottom"><a class="el" href="classCMotBase.html#a94a3017f0c6195521f37c8284827f3d9">gnl</a></td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">motor generals <a href="#a94a3017f0c6195521f37c8284827f3d9"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top"><a class="el" href="structTMotAPS.html">TMotAPS</a> </td><td class="memItemRight" valign="bottom"><a class="el" href="classCMotBase.html#ab0236abff7c0502724311bed0d3dcf07">aps</a></td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">actual position <a href="#ab0236abff7c0502724311bed0d3dcf07"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top"><a class="el" href="structTMotTPS.html">TMotTPS</a> </td><td class="memItemRight" valign="bottom"><a class="el" href="classCMotBase.html#af2216347d8a7a4c39e007060a944bb2b">tps</a></td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">target position <a href="#af2216347d8a7a4c39e007060a944bb2b"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top"><a class="el" href="structTMotSCP.html">TMotSCP</a> </td><td class="memItemRight" valign="bottom"><a class="el" href="classCMotBase.html#a754dca6c5982077b6a2d80bd79c2cca0">scp</a></td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">static controller parameters <a href="#a754dca6c5982077b6a2d80bd79c2cca0"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top"><a class="el" href="structTMotDYL.html">TMotDYL</a> </td><td class="memItemRight" valign="bottom"><a class="el" href="classCMotBase.html#a3fb7810362426fdd48df72317be65427">dyl</a></td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">dynamic limits <a href="#a3fb7810362426fdd48df72317be65427"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top"><a class="el" href="structTMotPVP.html">TMotPVP</a> </td><td class="memItemRight" valign="bottom"><a class="el" href="classCMotBase.html#a92b64310d3b990a7451a155ca75709aa">pvp</a></td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">reading motor parameters <a href="#a92b64310d3b990a7451a155ca75709aa"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top"><a class="el" href="structTMotSFW.html">TMotSFW</a> </td><td class="memItemRight" valign="bottom"><a class="el" href="classCMotBase.html#a1efaedeead0f850d1cf567a826d1ea1f">sfw</a></td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">slave firmware <a href="#a1efaedeead0f850d1cf567a826d1ea1f"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top"><a class="el" href="structTMotCLB.html">TMotCLB</a> </td><td class="memItemRight" valign="bottom"><a class="el" href="classCMotBase.html#a7df110e89c2f34bb8bacba4c9ee804df">_calibrationParameters</a></td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">calibration structure <a href="#a7df110e89c2f34bb8bacba4c9ee804df"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top"><a class="el" href="structTMotENL.html">TMotENL</a> </td><td class="memItemRight" valign="bottom"><a class="el" href="classCMotBase.html#a568551fd2c45b8da94abd9afa4eaa7b0">_encoderLimits</a></td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">motor limits in encoder values <a href="#a568551fd2c45b8da94abd9afa4eaa7b0"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top"><a class="el" href="structTMotInit.html">TMotInit</a> </td><td class="memItemRight" valign="bottom"><a class="el" href="classCMotBase.html#af70dfb2e18a9cf41f4fae051a6a8d0c3">_initialParameters</a></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">bool </td><td class="memItemRight" valign="bottom"><a class="el" href="classCMotBase.html#ab9aebfbc3a429f560cd5dfba6ecc3fdb">freedom</a></td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">if it is set, it will move on a parallel movement <a href="#ab9aebfbc3a429f560cd5dfba6ecc3fdb"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">bool </td><td class="memItemRight" valign="bottom"><a class="el" href="classCMotBase.html#a808658576b2bf34a99a5339896768928">nmp</a></td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">true if new motor parameters are implemented on the firmware <a href="#a808658576b2bf34a99a5339896768928"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">bool </td><td class="memItemRight" valign="bottom"><a class="el" href="classCMotBase.html#adfed1980c70b83892f3d6f12e70649f8">blocked</a></td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">true if the motor was blocked due to a crash of the robot <a href="#adfed1980c70b83892f3d6f12e70649f8"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top"><a class="el" href="classCCplBase.html">CCplBase</a> * </td><td class="memItemRight" valign="bottom"><a class="el" href="classCMotBase.html#a19e4a6c8e319c2d815e07599092beace">protocol</a></td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">protocol interface <a href="#a19e4a6c8e319c2d815e07599092beace"></a><br/></td></tr>
<tr><td colspan="2"><h2><a name="friends"></a>
Friends</h2></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">class </td><td class="memItemRight" valign="bottom"><a class="el" href="classCMotBase.html#a099603b3fbe6a04e3b0d667a5e4770f3">CKatBase</a></td></tr>
</table>
<hr/><a name="_details"></a><h2>Detailed Description</h2>
<div class="textblock"><p>Motor class. </p>
<p>This class allows to control one motor; to control a motor it has to be initialized by using the init function. And the usage the internal allocated resources should be deallocated by using the 'free' method. </p>
<p>Definition at line <a class="el" href="kmlMotBase_8h_source.html#l00219">219</a> of file <a class="el" href="kmlMotBase_8h_source.html">kmlMotBase.h</a>.</p>
</div><hr/><h2>Constructor & Destructor Documentation</h2>
<a class="anchor" id="a0fcdc1da04c25e6147ac409f91567fc2"></a><!-- doxytag: member="CMotBase::~CMotBase" ref="a0fcdc1da04c25e6147ac409f91567fc2" args="()" -->
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<td class="memname">virtual CMotBase::~CMotBase </td>
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<td><code> [inline, virtual]</code></td>
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<div class="memdoc">
<p>Definition at line <a class="el" href="kmlMotBase_8h_source.html#l00267">267</a> of file <a class="el" href="kmlMotBase_8h_source.html">kmlMotBase.h</a>.</p>
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<hr/><h2>Member Function Documentation</h2>
<a class="anchor" id="ae039df23506c08e1afced42e27f07c28"></a><!-- doxytag: member="CMotBase::checkAngleInRange" ref="ae039df23506c08e1afced42e27f07c28" args="(double angle)" -->
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<td class="memname">bool CMotBase::checkAngleInRange </td>
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<td class="paramtype">double </td>
<td class="paramname"><em>angle</em></td><td>)</td>
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<p>check limits in encoder values </p>
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<a class="anchor" id="a61bc93d7d08766bd9802e1cf3318e47c"></a><!-- doxytag: member="CMotBase::checkEncoderInRange" ref="a61bc93d7d08766bd9802e1cf3318e47c" args="(int encoder)" -->
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<td class="memname">bool CMotBase::checkEncoderInRange </td>
<td>(</td>
<td class="paramtype">int </td>
<td class="paramname"><em>encoder</em></td><td>)</td>
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<a class="anchor" id="ac6dd19b239114109c72c09d8328ab38e"></a><!-- doxytag: member="CMotBase::dec" ref="ac6dd19b239114109c72c09d8328ab38e" args="(int dif, bool wait=false, int tolerance=100, long timeout=TM_ENDLESS)" -->
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<td class="memname">void CMotBase::dec </td>
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<td class="paramname"><em>dif</em>, </td>
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<td class="paramname"><em>wait</em> = <code>false</code>, </td>
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<td class="paramname"><em>tolerance</em> = <code>100</code>, </td>
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<td class="paramname"><em>timeout</em> = <code>TM_ENDLESS</code> </td>
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<p>Decrements the motor specified by an index postion in encoder units. </p>
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<a class="anchor" id="a0657c3dd43a795d260cf2a2fa074ac01"></a><!-- doxytag: member="CMotBase::decDegrees" ref="a0657c3dd43a795d260cf2a2fa074ac01" args="(double dif, bool wait=false, int tolerance=100, long timeout=TM_ENDLESS)" -->
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<td class="memname">void CMotBase::decDegrees </td>
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<td class="paramname"><em>tolerance</em> = <code>100</code>, </td>
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<td class="paramname"><em>timeout</em> = <code>TM_ENDLESS</code> </td>
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<p>Decrements the motor specified by an index postion in degrees. </p>
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<a class="anchor" id="a35532f3236b00e3d153fb9cbee454a5e"></a><!-- doxytag: member="CMotBase::GetAPS" ref="a35532f3236b00e3d153fb9cbee454a5e" args="()" -->
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<td class="memname">const <a class="el" href="structTMotAPS.html">TMotAPS</a>* CMotBase::GetAPS </td>
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<td><code> [inline]</code></td>
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<p>Definition at line <a class="el" href="kmlMotBase_8h_source.html#l00242">242</a> of file <a class="el" href="kmlMotBase_8h_source.html">kmlMotBase.h</a>.</p>
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<a class="anchor" id="af817d72c8ee63f65b925627487697fc3"></a><!-- doxytag: member="CMotBase::GetBlocked" ref="af817d72c8ee63f65b925627487697fc3" args="()" -->
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<td class="memname">const bool CMotBase::GetBlocked </td>
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<p>Get the value of the blocked property. </p>
<p>Definition at line <a class="el" href="kmlMotBase_8h_source.html#l00259">259</a> of file <a class="el" href="kmlMotBase_8h_source.html">kmlMotBase.h</a>.</p>
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<a class="anchor" id="a49af3d94ba8870d7743973167b83ee87"></a><!-- doxytag: member="CMotBase::GetCLB" ref="a49af3d94ba8870d7743973167b83ee87" args="()" -->
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<td class="memname">const <a class="el" href="structTMotCLB.html">TMotCLB</a>* CMotBase::GetCLB </td>
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<td><code> [inline]</code></td>
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<p>Definition at line <a class="el" href="kmlMotBase_8h_source.html#l00248">248</a> of file <a class="el" href="kmlMotBase_8h_source.html">kmlMotBase.h</a>.</p>
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<a class="anchor" id="a6216175ebd3f4e40d205b70a6972f1ce"></a><!-- doxytag: member="CMotBase::GetDYL" ref="a6216175ebd3f4e40d205b70a6972f1ce" args="()" -->
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<td class="memname">const <a class="el" href="structTMotDYL.html">TMotDYL</a>* CMotBase::GetDYL </td>
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<p>Definition at line <a class="el" href="kmlMotBase_8h_source.html#l00245">245</a> of file <a class="el" href="kmlMotBase_8h_source.html">kmlMotBase.h</a>.</p>
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<a class="anchor" id="a8477c99f3fb79e72a4e0524c38f9cffb"></a><!-- doxytag: member="CMotBase::GetEncoderMaxPos" ref="a8477c99f3fb79e72a4e0524c38f9cffb" args="()" -->
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<td class="memname">const int CMotBase::GetEncoderMaxPos </td>
<td>(</td>
<td class="paramname"></td><td>)</td>
<td><code> [inline]</code></td>
</tr>
</table>
</div>
<div class="memdoc">
<p>Returns the max Position of the Encoder. </p>
<p>Definition at line <a class="el" href="kmlMotBase_8h_source.html#l00253">253</a> of file <a class="el" href="kmlMotBase_8h_source.html">kmlMotBase.h</a>.</p>
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</div>
<a class="anchor" id="a2ea850f6c70732ae218fe3d92f359d49"></a><!-- doxytag: member="CMotBase::GetEncoderMinPos" ref="a2ea850f6c70732ae218fe3d92f359d49" args="()" -->
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<td class="memname">const int CMotBase::GetEncoderMinPos </td>
<td>(</td>
<td class="paramname"></td><td>)</td>
<td><code> [inline]</code></td>
</tr>
</table>
</div>
<div class="memdoc">
<p>Returns the min Position of the Encoder. </p>
<p>Definition at line <a class="el" href="kmlMotBase_8h_source.html#l00252">252</a> of file <a class="el" href="kmlMotBase_8h_source.html">kmlMotBase.h</a>.</p>
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</div>
<a class="anchor" id="a79973fcf346cb02bd9f7ffb91ea6364f"></a><!-- doxytag: member="CMotBase::GetEncoderRange" ref="a79973fcf346cb02bd9f7ffb91ea6364f" args="()" -->
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<td class="memname">const int CMotBase::GetEncoderRange </td>
<td>(</td>
<td class="paramname"></td><td>)</td>
<td><code> [inline]</code></td>
</tr>
</table>
</div>
<div class="memdoc">
<p>Returns Encoder Range of the Encoder. </p>
<p>Definition at line <a class="el" href="kmlMotBase_8h_source.html#l00254">254</a> of file <a class="el" href="kmlMotBase_8h_source.html">kmlMotBase.h</a>.</p>
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<a class="anchor" id="ab3ae1da175114d5995ebed7d5d34ca64"></a><!-- doxytag: member="CMotBase::GetEncoderTolerance" ref="ab3ae1da175114d5995ebed7d5d34ca64" args="()" -->
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<td class="memname">const int CMotBase::GetEncoderTolerance </td>
<td>(</td>
<td class="paramname"></td><td>)</td>
<td><code> [inline]</code></td>
</tr>
</table>
</div>
<div class="memdoc">
<p>Definition at line <a class="el" href="kmlMotBase_8h_source.html#l00251">251</a> of file <a class="el" href="kmlMotBase_8h_source.html">kmlMotBase.h</a>.</p>
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<a class="anchor" id="a8d0cccb9497191bfc64c3553cae7d4be"></a><!-- doxytag: member="CMotBase::GetFreedom" ref="a8d0cccb9497191bfc64c3553cae7d4be" args="()" -->
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<td class="memname">const bool CMotBase::GetFreedom </td>
<td>(</td>
<td class="paramname"></td><td>)</td>
<td><code> [inline]</code></td>
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</table>
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<div class="memdoc">
<p>Get the value of the freedom property. </p>
<p>Definition at line <a class="el" href="kmlMotBase_8h_source.html#l00257">257</a> of file <a class="el" href="kmlMotBase_8h_source.html">kmlMotBase.h</a>.</p>
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<a class="anchor" id="a40aeb5bd256b758fceaf82432b1d9896"></a><!-- doxytag: member="CMotBase::GetGNL" ref="a40aeb5bd256b758fceaf82432b1d9896" args="()" -->
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<td class="memname">const <a class="el" href="structTMotGNL.html">TMotGNL</a>* CMotBase::GetGNL </td>
<td>(</td>
<td class="paramname"></td><td>)</td>
<td><code> [inline]</code></td>
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</table>
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<div class="memdoc">
<p>Definition at line <a class="el" href="kmlMotBase_8h_source.html#l00241">241</a> of file <a class="el" href="kmlMotBase_8h_source.html">kmlMotBase.h</a>.</p>
<p>References <a class="el" href="kmlBase_8h_source.html#l00135">CKatBase::gnl</a>.</p>
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<a class="anchor" id="a13be8a88bfc39ccc789c9ccfb27db517"></a><!-- doxytag: member="CMotBase::GetInitialParameters" ref="a13be8a88bfc39ccc789c9ccfb27db517" args="()" -->
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<td class="memname">const <a class="el" href="structTMotInit.html">TMotInit</a>* CMotBase::GetInitialParameters </td>
<td>(</td>
<td class="paramname"></td><td>)</td>
<td><code> [inline]</code></td>
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</table>
</div>
<div class="memdoc">
<p>Definition at line <a class="el" href="kmlMotBase_8h_source.html#l00250">250</a> of file <a class="el" href="kmlMotBase_8h_source.html">kmlMotBase.h</a>.</p>
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<a class="anchor" id="ae3dc25ae4527015684c18c55a328e47a"></a><!-- doxytag: member="CMotBase::GetNmp" ref="ae3dc25ae4527015684c18c55a328e47a" args="()" -->
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<td class="memname">const bool CMotBase::GetNmp </td>
<td>(</td>
<td class="paramname"></td><td>)</td>
<td><code> [inline]</code></td>
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<div class="memdoc">
<p>Get the value of the nmp property. </p>
<p>Definition at line <a class="el" href="kmlMotBase_8h_source.html#l00261">261</a> of file <a class="el" href="kmlMotBase_8h_source.html">kmlMotBase.h</a>.</p>
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<a class="anchor" id="a59ad8d549a687a44541663f12f2523c8"></a><!-- doxytag: member="CMotBase::getParameterOrLimit" ref="a59ad8d549a687a44541663f12f2523c8" args="(int subcommand, byte *R1, byte *R2, byte *R3)" -->
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<td class="memname">void CMotBase::getParameterOrLimit </td>
<td>(</td>
<td class="paramtype">int </td>
<td class="paramname"><em>subcommand</em>, </td>
</tr>
<tr>
<td class="paramkey"></td>
<td></td>
<td class="paramtype"><a class="el" href="cdlBase_8h.html#a0c8186d9b9b7880309c27230bbb5e69d">byte</a> * </td>
<td class="paramname"><em>R1</em>, </td>
</tr>
<tr>
<td class="paramkey"></td>
<td></td>
<td class="paramtype"><a class="el" href="cdlBase_8h.html#a0c8186d9b9b7880309c27230bbb5e69d">byte</a> * </td>
<td class="paramname"><em>R2</em>, </td>
</tr>
<tr>
<td class="paramkey"></td>
<td></td>
<td class="paramtype"><a class="el" href="cdlBase_8h.html#a0c8186d9b9b7880309c27230bbb5e69d">byte</a> * </td>
<td class="paramname"><em>R3</em> </td>
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<tr>
<td></td>
<td>)</td>
<td></td><td></td>
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<div class="memdoc">
<p>Get parameters or limits. </p>
<dl><dt><b>Parameters:</b></dt><dd>
<table class="params">
<tr><td class="paramname">subcommand</td><td>255-249;245, see katana user manual chapter 8 firmware commands for details </td></tr>
<tr><td class="paramname">R1</td><td>pointer to store first byte of answer </td></tr>
<tr><td class="paramname">R2</td><td>pointer to store second byte of answer </td></tr>
<tr><td class="paramname">R3</td><td>pointer to store third byte of answer </td></tr>
</table>
</dd>
</dl>
</div>
</div>
<a class="anchor" id="ada614abdc4932d4d5e907d3026d90367"></a><!-- doxytag: member="CMotBase::GetPVP" ref="ada614abdc4932d4d5e907d3026d90367" args="()" -->
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<td class="memname">const <a class="el" href="structTMotPVP.html">TMotPVP</a>* CMotBase::GetPVP </td>
<td>(</td>
<td class="paramname"></td><td>)</td>
<td><code> [inline]</code></td>
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<div class="memdoc">
<p>Definition at line <a class="el" href="kmlMotBase_8h_source.html#l00246">246</a> of file <a class="el" href="kmlMotBase_8h_source.html">kmlMotBase.h</a>.</p>
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<a class="anchor" id="af656939b08aca949be6bf2dd9eb8758b"></a><!-- doxytag: member="CMotBase::GetSCP" ref="af656939b08aca949be6bf2dd9eb8758b" args="()" -->
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<td class="memname">const <a class="el" href="structTMotSCP.html">TMotSCP</a>* CMotBase::GetSCP </td>
<td>(</td>
<td class="paramname"></td><td>)</td>
<td><code> [inline]</code></td>
</tr>
</table>
</div>
<div class="memdoc">
<p>Definition at line <a class="el" href="kmlMotBase_8h_source.html#l00244">244</a> of file <a class="el" href="kmlMotBase_8h_source.html">kmlMotBase.h</a>.</p>
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<a class="anchor" id="acac44d3830b023527ab16dcb143c2caf"></a><!-- doxytag: member="CMotBase::GetSFW" ref="acac44d3830b023527ab16dcb143c2caf" args="()" -->
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<td class="memname">const <a class="el" href="structTMotSFW.html">TMotSFW</a>* CMotBase::GetSFW </td>
<td>(</td>
<td class="paramname"></td><td>)</td>
<td><code> [inline]</code></td>
</tr>
</table>
</div>
<div class="memdoc">
<p>Definition at line <a class="el" href="kmlMotBase_8h_source.html#l00247">247</a> of file <a class="el" href="kmlMotBase_8h_source.html">kmlMotBase.h</a>.</p>
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</div>
<a class="anchor" id="a93c6b34fd38c3a011e65abb901ff92cc"></a><!-- doxytag: member="CMotBase::GetTPS" ref="a93c6b34fd38c3a011e65abb901ff92cc" args="()" -->
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<td class="memname">const <a class="el" href="structTMotTPS.html">TMotTPS</a>* CMotBase::GetTPS </td>
<td>(</td>
<td class="paramname"></td><td>)</td>
<td><code> [inline]</code></td>
</tr>
</table>
</div>
<div class="memdoc">
<p>Definition at line <a class="el" href="kmlMotBase_8h_source.html#l00243">243</a> of file <a class="el" href="kmlMotBase_8h_source.html">kmlMotBase.h</a>.</p>
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<a class="anchor" id="abe6e966103987cdb1237dfe699f3c0ae"></a><!-- doxytag: member="CMotBase::inc" ref="abe6e966103987cdb1237dfe699f3c0ae" args="(int dif, bool wait=false, int tolerance=100, long timeout=TM_ENDLESS)" -->
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<td class="memname">void CMotBase::inc </td>
<td>(</td>
<td class="paramtype">int </td>
<td class="paramname"><em>dif</em>, </td>
</tr>
<tr>
<td class="paramkey"></td>
<td></td>
<td class="paramtype">bool </td>
<td class="paramname"><em>wait</em> = <code>false</code>, </td>
</tr>
<tr>
<td class="paramkey"></td>
<td></td>
<td class="paramtype">int </td>
<td class="paramname"><em>tolerance</em> = <code>100</code>, </td>
</tr>
<tr>
<td class="paramkey"></td>
<td></td>
<td class="paramtype">long </td>
<td class="paramname"><em>timeout</em> = <code>TM_ENDLESS</code> </td>
</tr>
<tr>
<td></td>
<td>)</td>
<td></td><td></td>
</tr>
</table>
</div>
<div class="memdoc">
<p>Increments the motor specified by an index postion in encoder units. </p>
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</div>
<a class="anchor" id="a9e585a5ba8a4d5cd66932ff24de69cd5"></a><!-- doxytag: member="CMotBase::incDegrees" ref="a9e585a5ba8a4d5cd66932ff24de69cd5" args="(double dif, bool wait=false, int tolerance=100, long timeout=TM_ENDLESS)" -->
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<td class="memname">void CMotBase::incDegrees </td>
<td>(</td>
<td class="paramtype">double </td>
<td class="paramname"><em>dif</em>, </td>
</tr>
<tr>
<td class="paramkey"></td>
<td></td>
<td class="paramtype">bool </td>
<td class="paramname"><em>wait</em> = <code>false</code>, </td>
</tr>
<tr>
<td class="paramkey"></td>
<td></td>
<td class="paramtype">int </td>
<td class="paramname"><em>tolerance</em> = <code>100</code>, </td>
</tr>
<tr>
<td class="paramkey"></td>
<td></td>
<td class="paramtype">long </td>
<td class="paramname"><em>timeout</em> = <code>TM_ENDLESS</code> </td>
</tr>
<tr>
<td></td>
<td>)</td>
<td></td><td></td>
</tr>
</table>
</div>
<div class="memdoc">
<p>Increments the motor specified by an index postion in degrees. </p>
</div>
</div>
<a class="anchor" id="ab0e58f13e80f75905d0973da1661d960"></a><!-- doxytag: member="CMotBase::init" ref="ab0e58f13e80f75905d0973da1661d960" args="(CKatBase *_own, const TMotDesc _motDesc, CCplBase *protocol)" -->
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<td class="memname">bool CMotBase::init </td>
<td>(</td>
<td class="paramtype"><a class="el" href="classCKatBase.html">CKatBase</a> * </td>
<td class="paramname"><em>_own</em>, </td>
</tr>
<tr>
<td class="paramkey"></td>
<td></td>
<td class="paramtype">const <a class="el" href="structTMotDesc.html">TMotDesc</a> </td>
<td class="paramname"><em>_motDesc</em>, </td>
</tr>
<tr>
<td class="paramkey"></td>
<td></td>
<td class="paramtype"><a class="el" href="classCCplBase.html">CCplBase</a> * </td>
<td class="paramname"><em>protocol</em> </td>
</tr>
<tr>
<td></td>
<td>)</td>
<td></td><td></td>
</tr>
</table>
</div>
<div class="memdoc">
</div>
</div>
<a class="anchor" id="a265fb800411933d77d68ec51874b3c44"></a><!-- doxytag: member="CMotBase::mov" ref="a265fb800411933d77d68ec51874b3c44" args="(int tar, bool wait=false, int tolerance=100, long timeout=TM_ENDLESS)" -->
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<td class="memname">void CMotBase::mov </td>
<td>(</td>
<td class="paramtype">int </td>
<td class="paramname"><em>tar</em>, </td>
</tr>
<tr>
<td class="paramkey"></td>
<td></td>
<td class="paramtype">bool </td>
<td class="paramname"><em>wait</em> = <code>false</code>, </td>
</tr>
<tr>
<td class="paramkey"></td>
<td></td>
<td class="paramtype">int </td>
<td class="paramname"><em>tolerance</em> = <code>100</code>, </td>
</tr>
<tr>
<td class="paramkey"></td>
<td></td>
<td class="paramtype">long </td>
<td class="paramname"><em>timeout</em> = <code>TM_ENDLESS</code> </td>
</tr>
<tr>
<td></td>
<td>)</td>
<td></td><td></td>
</tr>
</table>
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<div class="memdoc">
<p>Moves the motor specified by an index to a given target position in encoder units. </p>
</div>
</div>
<a class="anchor" id="a82c0585ef98f10f9142dbaf80067410e"></a><!-- doxytag: member="CMotBase::movDegrees" ref="a82c0585ef98f10f9142dbaf80067410e" args="(double tar, bool wait=false, int tolerance=100, long timeout=TM_ENDLESS)" -->
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<td class="memname">void CMotBase::movDegrees </td>
<td>(</td>
<td class="paramtype">double </td>
<td class="paramname"><em>tar</em>, </td>
</tr>
<tr>
<td class="paramkey"></td>
<td></td>
<td class="paramtype">bool </td>
<td class="paramname"><em>wait</em> = <code>false</code>, </td>
</tr>
<tr>
<td class="paramkey"></td>
<td></td>
<td class="paramtype">int </td>
<td class="paramname"><em>tolerance</em> = <code>100</code>, </td>
</tr>
<tr>
<td class="paramkey"></td>
<td></td>
<td class="paramtype">long </td>
<td class="paramname"><em>timeout</em> = <code>TM_ENDLESS</code> </td>
</tr>
<tr>
<td></td>
<td>)</td>
<td></td><td></td>
</tr>
</table>
</div>
<div class="memdoc">
<p>Moves the motor specified by an index to a given target position in degrees. </p>
</div>
</div>
<a class="anchor" id="a9f84ee2e43f0dad4886e6546179357ef"></a><!-- doxytag: member="CMotBase::recvDYL" ref="a9f84ee2e43f0dad4886e6546179357ef" args="()" -->
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<td class="memname">void CMotBase::recvDYL </td>
<td>(</td>
<td class="paramname"></td><td>)</td>
<td></td>
</tr>
</table>
</div>
<div class="memdoc">
<p>receive data </p>
</div>
</div>
<a class="anchor" id="a6ea33789c7745099a8348972993c86be"></a><!-- doxytag: member="CMotBase::recvPVP" ref="a6ea33789c7745099a8348972993c86be" args="()" -->
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<td class="memname">void CMotBase::recvPVP </td>
<td>(</td>
<td class="paramname"></td><td>)</td>
<td></td>
</tr>
</table>
</div>
<div class="memdoc">
<p>receive data </p>
</div>
</div>
<a class="anchor" id="a17a73061105b669841b3033f0e3666a9"></a><!-- doxytag: member="CMotBase::recvSCP" ref="a17a73061105b669841b3033f0e3666a9" args="()" -->
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<td class="memname">void CMotBase::recvSCP </td>
<td>(</td>
<td class="paramname"></td><td>)</td>
<td></td>
</tr>
</table>
</div>
<div class="memdoc">
<p>receive data </p>
</div>
</div>
<a class="anchor" id="a8e01c936dc0a317e01f4f81892b26c37"></a><!-- doxytag: member="CMotBase::recvSFW" ref="a8e01c936dc0a317e01f4f81892b26c37" args="()" -->
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<td class="memname">void CMotBase::recvSFW </td>
<td>(</td>
<td class="paramname"></td><td>)</td>
<td></td>
</tr>
</table>
</div>
<div class="memdoc">
<p>receive data </p>
</div>
</div>
<a class="anchor" id="ae73e9a88150c38b4b8084694eda6dfc8"></a><!-- doxytag: member="CMotBase::resetBlocked" ref="ae73e9a88150c38b4b8084694eda6dfc8" args="()" -->
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<td class="memname">void CMotBase::resetBlocked </td>
<td>(</td>
<td class="paramname"></td><td>)</td>
<td></td>
</tr>
</table>
</div>
<div class="memdoc">
<p>unblock the motor. </p>
</div>
</div>
<a class="anchor" id="ac0f4454dfd9799e42cd506664c5e4ad6"></a><!-- doxytag: member="CMotBase::resetTPSP" ref="ac0f4454dfd9799e42cd506664c5e4ad6" args="()" -->
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<td class="memname">void CMotBase::resetTPSP </td>
<td>(</td>
<td class="paramname"></td><td>)</td>
<td></td>
</tr>
</table>
</div>
<div class="memdoc">
<p>parallel movement </p>
<p>deprecated: for use with old Katana5M only </p>
</div>
</div>
<a class="anchor" id="a2826539e613394a8bc2494d18c705cef"></a><!-- doxytag: member="CMotBase::sendAPS" ref="a2826539e613394a8bc2494d18c705cef" args="(const TMotAPS *_aps)" -->
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<td class="memname">void CMotBase::sendAPS </td>
<td>(</td>
<td class="paramtype">const <a class="el" href="structTMotAPS.html">TMotAPS</a> * </td>
<td class="paramname"><em>_aps</em></td><td>)</td>
<td></td>
</tr>
</table>
</div>
<div class="memdoc">
<p>send data </p>
</div>
</div>
<a class="anchor" id="a664d918e22b9280096da03c4b7ae8e34"></a><!-- doxytag: member="CMotBase::sendDYL" ref="a664d918e22b9280096da03c4b7ae8e34" args="(const TMotDYL *_dyl)" -->
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<td class="memname">void CMotBase::sendDYL </td>
<td>(</td>
<td class="paramtype">const <a class="el" href="structTMotDYL.html">TMotDYL</a> * </td>
<td class="paramname"><em>_dyl</em></td><td>)</td>
<td></td>
</tr>
</table>
</div>
<div class="memdoc">
<p>send data </p>
</div>
</div>
<a class="anchor" id="ab92f196f98562245ff838d451378d3e1"></a><!-- doxytag: member="CMotBase::sendFourSplines" ref="ab92f196f98562245ff838d451378d3e1" args="(short targetPosition, short duration, std::vector< short > &coefficients)" -->
<div class="memitem">
<div class="memproto">
<table class="memname">
<tr>
<td class="memname">void CMotBase::sendFourSplines </td>
<td>(</td>
<td class="paramtype">short </td>
<td class="paramname"><em>targetPosition</em>, </td>
</tr>
<tr>
<td class="paramkey"></td>
<td></td>
<td class="paramtype">short </td>
<td class="paramname"><em>duration</em>, </td>
</tr>
<tr>
<td class="paramkey"></td>
<td></td>
<td class="paramtype">std::vector< short > & </td>
<td class="paramname"><em>coefficients</em> </td>
</tr>
<tr>
<td></td>
<td>)</td>
<td></td><td></td>
</tr>
</table>
</div>
<div class="memdoc">
<p>Send four splines to the motor. </p>
<dl><dt><b>Parameters:</b></dt><dd>
<table class="params">
<tr><td class="paramname">duration</td><td>Duration has to be given in 10ms units </td></tr>
<tr><td class="paramname">coefficients</td><td>4x4 coefficients have to be passed or the function will cause an assertion. </td></tr>
</table>
</dd>
</dl>
</div>
</div>
<a class="anchor" id="a05e166d9a0a2e6f5e313805571d815f8"></a><!-- doxytag: member="CMotBase::sendSCP" ref="a05e166d9a0a2e6f5e313805571d815f8" args="(const TMotSCP *_scp)" -->
<div class="memitem">
<div class="memproto">
<table class="memname">
<tr>
<td class="memname">void CMotBase::sendSCP </td>
<td>(</td>
<td class="paramtype">const <a class="el" href="structTMotSCP.html">TMotSCP</a> * </td>
<td class="paramname"><em>_scp</em></td><td>)</td>
<td></td>
</tr>
</table>
</div>
<div class="memdoc">
<p>send data </p>
</div>
</div>
<a class="anchor" id="acdca375dd382b9c4b652a5f6059f7ac8"></a><!-- doxytag: member="CMotBase::sendSpline" ref="acdca375dd382b9c4b652a5f6059f7ac8" args="(short targetPosition, short duration, short p1, short p2, short p3, short p4)" -->
<div class="memitem">
<div class="memproto">
<table class="memname">
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<td class="memname">void CMotBase::sendSpline </td>
<td>(</td>
<td class="paramtype">short </td>
<td class="paramname"><em>targetPosition</em>, </td>
</tr>
<tr>
<td class="paramkey"></td>
<td></td>
<td class="paramtype">short </td>
<td class="paramname"><em>duration</em>, </td>
</tr>
<tr>
<td class="paramkey"></td>
<td></td>
<td class="paramtype">short </td>
<td class="paramname"><em>p1</em>, </td>
</tr>
<tr>
<td class="paramkey"></td>
<td></td>
<td class="paramtype">short </td>
<td class="paramname"><em>p2</em>, </td>
</tr>
<tr>
<td class="paramkey"></td>
<td></td>
<td class="paramtype">short </td>
<td class="paramname"><em>p3</em>, </td>
</tr>
<tr>
<td class="paramkey"></td>
<td></td>
<td class="paramtype">short </td>
<td class="paramname"><em>p4</em> </td>
</tr>
<tr>
<td></td>
<td>)</td>
<td></td><td></td>
</tr>
</table>
</div>
<div class="memdoc">
<p>Send one spline to the motor. </p>
<dl><dt><b>Parameters:</b></dt><dd>
<table class="params">
<tr><td class="paramname">duration</td><td>Duration has to be given in 10ms units </td></tr>
</table>
</dd>
</dl>
</div>
</div>
<a class="anchor" id="a821dc8b86d9226f840069ea16e4fb5be"></a><!-- doxytag: member="CMotBase::sendTPS" ref="a821dc8b86d9226f840069ea16e4fb5be" args="(const TMotTPS *_tps)" -->
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<div class="memproto">
<table class="memname">
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<td class="memname">void CMotBase::sendTPS </td>
<td>(</td>
<td class="paramtype">const <a class="el" href="structTMotTPS.html">TMotTPS</a> * </td>
<td class="paramname"><em>_tps</em></td><td>)</td>
<td></td>
</tr>
</table>
</div>
<div class="memdoc">
<p>send data </p>
</div>
</div>
<a class="anchor" id="a756477d12ee5386f92df9c2bc234fed0"></a><!-- doxytag: member="CMotBase::setAccelerationLimit" ref="a756477d12ee5386f92df9c2bc234fed0" args="(short acceleration)" -->
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<div class="memproto">
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<td class="memname">void CMotBase::setAccelerationLimit </td>
<td>(</td>
<td class="paramtype">short </td>
<td class="paramname"><em>acceleration</em></td><td>)</td>
<td></td>
</tr>
</table>
</div>
<div class="memdoc">
<p>Set the acceleration limits. </p>
</div>
</div>
<a class="anchor" id="a7519299c08684c77b406e9e1caf57ea3"></a><!-- doxytag: member="CMotBase::setCalibrated" ref="a7519299c08684c77b406e9e1caf57ea3" args="(bool calibrated)" -->
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<td class="memname">void CMotBase::setCalibrated </td>
<td>(</td>
<td class="paramtype">bool </td>
<td class="paramname"><em>calibrated</em></td><td>)</td>
<td></td>
</tr>
</table>
</div>
<div class="memdoc">
</div>
</div>
<a class="anchor" id="affc418ac28cfa599574a652d670173b1"></a><!-- doxytag: member="CMotBase::setCalibrationParameters" ref="affc418ac28cfa599574a652d670173b1" args="(bool doCalibration, short order, TSearchDir direction, TMotCmdFlg motorFlagAfter, int encoderPositionAfter)" -->
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<td class="memname">void CMotBase::setCalibrationParameters </td>
<td>(</td>
<td class="paramtype">bool </td>
<td class="paramname"><em>doCalibration</em>, </td>
</tr>
<tr>
<td class="paramkey"></td>
<td></td>
<td class="paramtype">short </td>
<td class="paramname"><em>order</em>, </td>
</tr>
<tr>
<td class="paramkey"></td>
<td></td>
<td class="paramtype"><a class="el" href="kmlMotBase_8h.html#adef107e616c782dbe7138446a2edf71b">TSearchDir</a> </td>
<td class="paramname"><em>direction</em>, </td>
</tr>
<tr>
<td class="paramkey"></td>
<td></td>
<td class="paramtype"><a class="el" href="kmlMotBase_8h.html#a1b93f23a077cc22845f59079c30ef343">TMotCmdFlg</a> </td>
<td class="paramname"><em>motorFlagAfter</em>, </td>
</tr>
<tr>
<td class="paramkey"></td>
<td></td>
<td class="paramtype">int </td>
<td class="paramname"><em>encoderPositionAfter</em> </td>
</tr>
<tr>
<td></td>
<td>)</td>
<td></td><td></td>
</tr>
</table>
</div>
<div class="memdoc">
</div>
</div>
<a class="anchor" id="a67e5bd920dba6f36fbab474afac6bd26"></a><!-- doxytag: member="CMotBase::setControllerParameters" ref="a67e5bd920dba6f36fbab474afac6bd26" args="(byte kSpeed, byte kPos, byte kI)" -->
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<div class="memproto">
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<td class="memname">void CMotBase::setControllerParameters </td>
<td>(</td>
<td class="paramtype"><a class="el" href="cdlBase_8h.html#a0c8186d9b9b7880309c27230bbb5e69d">byte</a> </td>
<td class="paramname"><em>kSpeed</em>, </td>
</tr>
<tr>
<td class="paramkey"></td>
<td></td>
<td class="paramtype"><a class="el" href="cdlBase_8h.html#a0c8186d9b9b7880309c27230bbb5e69d">byte</a> </td>
<td class="paramname"><em>kPos</em>, </td>
</tr>
<tr>
<td class="paramkey"></td>
<td></td>
<td class="paramtype"><a class="el" href="cdlBase_8h.html#a0c8186d9b9b7880309c27230bbb5e69d">byte</a> </td>
<td class="paramname"><em>kI</em> </td>
</tr>
<tr>
<td></td>
<td>)</td>
<td></td><td></td>
</tr>
</table>
</div>
<div class="memdoc">
<p>Set the controller parameters. </p>
</div>
</div>
<a class="anchor" id="aa68b0ab656724023ff302d3963cbbf01"></a><!-- doxytag: member="CMotBase::setCrashLimit" ref="aa68b0ab656724023ff302d3963cbbf01" args="(int limit)" -->
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<td class="memname">void CMotBase::setCrashLimit </td>
<td>(</td>
<td class="paramtype">int </td>
<td class="paramname"><em>limit</em></td><td>)</td>
<td></td>
</tr>
</table>
</div>
<div class="memdoc">
<p>Set the crash limit. </p>
</div>
</div>
<a class="anchor" id="acfe0f64dff25cf53abc7824f6bff9d51"></a><!-- doxytag: member="CMotBase::setCrashLimitLinear" ref="acfe0f64dff25cf53abc7824f6bff9d51" args="(int limit_lin)" -->
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<td class="memname">void CMotBase::setCrashLimitLinear </td>
<td>(</td>
<td class="paramtype">int </td>
<td class="paramname"><em>limit_lin</em></td><td>)</td>
<td></td>
</tr>
</table>
</div>
<div class="memdoc">
<p>Set the crash limit linear. </p>
</div>
</div>
<a class="anchor" id="acad3c21151fdfc3d4ba96de49bd18358"></a><!-- doxytag: member="CMotBase::setDYL" ref="acad3c21151fdfc3d4ba96de49bd18358" args="(TMotDYL _dyl)" -->
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<td class="memname">void CMotBase::setDYL </td>
<td>(</td>
<td class="paramtype"><a class="el" href="structTMotDYL.html">TMotDYL</a> </td>
<td class="paramname"><em>_dyl</em></td><td>)</td>
<td><code> [inline]</code></td>
</tr>
</table>
</div>
<div class="memdoc">
<p>Definition at line <a class="el" href="kmlMotBase_8h_source.html#l00290">290</a> of file <a class="el" href="kmlMotBase_8h_source.html">kmlMotBase.h</a>.</p>
</div>
</div>
<a class="anchor" id="a78460a751845d9ab8878b6912431b610"></a><!-- doxytag: member="CMotBase::setInitialParameters" ref="a78460a751845d9ab8878b6912431b610" args="(double angleOffset, double angleRange, int encodersPerCycle, int encoderOffset, int rotationDirection)" -->
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<td class="memname">void CMotBase::setInitialParameters </td>
<td>(</td>
<td class="paramtype">double </td>
<td class="paramname"><em>angleOffset</em>, </td>
</tr>
<tr>
<td class="paramkey"></td>
<td></td>
<td class="paramtype">double </td>
<td class="paramname"><em>angleRange</em>, </td>
</tr>
<tr>
<td class="paramkey"></td>
<td></td>
<td class="paramtype">int </td>
<td class="paramname"><em>encodersPerCycle</em>, </td>
</tr>
<tr>
<td class="paramkey"></td>
<td></td>
<td class="paramtype">int </td>
<td class="paramname"><em>encoderOffset</em>, </td>
</tr>
<tr>
<td class="paramkey"></td>
<td></td>
<td class="paramtype">int </td>
<td class="paramname"><em>rotationDirection</em> </td>
</tr>
<tr>
<td></td>
<td>)</td>
<td></td><td></td>
</tr>
</table>
</div>
<div class="memdoc">
</div>
</div>
<a class="anchor" id="a726b7d8d41bdcdcd0f28ce53bc75c20a"></a><!-- doxytag: member="CMotBase::setPositionCollisionLimit" ref="a726b7d8d41bdcdcd0f28ce53bc75c20a" args="(int limit)" -->
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<td class="memname">void CMotBase::setPositionCollisionLimit </td>
<td>(</td>
<td class="paramtype">int </td>
<td class="paramname"><em>limit</em></td><td>)</td>
<td></td>
</tr>
</table>
</div>
<div class="memdoc">
<p>Set the collision limit. </p>
</div>
</div>
<a class="anchor" id="a39e20a392f33fdac6a1642c659d93ec1"></a><!-- doxytag: member="CMotBase::setPwmLimits" ref="a39e20a392f33fdac6a1642c659d93ec1" args="(byte maxppwm, byte maxnpwm)" -->
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<td class="memname">void CMotBase::setPwmLimits </td>
<td>(</td>
<td class="paramtype"><a class="el" href="cdlBase_8h.html#a0c8186d9b9b7880309c27230bbb5e69d">byte</a> </td>
<td class="paramname"><em>maxppwm</em>, </td>
</tr>
<tr>
<td class="paramkey"></td>
<td></td>
<td class="paramtype"><a class="el" href="cdlBase_8h.html#a0c8186d9b9b7880309c27230bbb5e69d">byte</a> </td>
<td class="paramname"><em>maxnpwm</em> </td>
</tr>
<tr>
<td></td>
<td>)</td>
<td></td><td></td>
</tr>
</table>
</div>
<div class="memdoc">
<p>Set the PWM limits. </p>
</div>
</div>
<a class="anchor" id="af06800796d9045c7019c3041d274c5f6"></a><!-- doxytag: member="CMotBase::setSCP" ref="af06800796d9045c7019c3041d274c5f6" args="(TMotSCP _scp)" -->
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<td class="memname">void CMotBase::setSCP </td>
<td>(</td>
<td class="paramtype"><a class="el" href="structTMotSCP.html">TMotSCP</a> </td>
<td class="paramname"><em>_scp</em></td><td>)</td>
<td><code> [inline]</code></td>
</tr>
</table>
</div>
<div class="memdoc">
<p>Definition at line <a class="el" href="kmlMotBase_8h_source.html#l00289">289</a> of file <a class="el" href="kmlMotBase_8h_source.html">kmlMotBase.h</a>.</p>
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</div>
<a class="anchor" id="a1fc4a7c4e0b6bc39da29061668003c14"></a><!-- doxytag: member="CMotBase::setSpeedCollisionLimit" ref="a1fc4a7c4e0b6bc39da29061668003c14" args="(int limit)" -->
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<td class="memname">void CMotBase::setSpeedCollisionLimit </td>
<td>(</td>
<td class="paramtype">int </td>
<td class="paramname"><em>limit</em></td><td>)</td>
<td></td>
</tr>
</table>
</div>
<div class="memdoc">
<p>Set the collision limit. </p>
</div>
</div>
<a class="anchor" id="a5933a4969e35d68d0d45f51e010fee30"></a><!-- doxytag: member="CMotBase::setSpeedLimit" ref="a5933a4969e35d68d0d45f51e010fee30" args="(short velocity)" -->
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<td class="memname">void CMotBase::setSpeedLimit </td>
<td>(</td>
<td class="paramtype">short </td>
<td class="paramname"><em>velocity</em></td><td>)</td>
<td><code> [inline]</code></td>
</tr>
</table>
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<div class="memdoc">
<p>Definition at line <a class="el" href="kmlMotBase_8h_source.html#l00359">359</a> of file <a class="el" href="kmlMotBase_8h_source.html">kmlMotBase.h</a>.</p>
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<a class="anchor" id="a53b0d756597b99de6292573457af7301"></a><!-- doxytag: member="CMotBase::setSpeedLimits" ref="a53b0d756597b99de6292573457af7301" args="(short positiveVelocity, short negativeVelocity)" -->
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<td class="memname">void CMotBase::setSpeedLimits </td>
<td>(</td>
<td class="paramtype">short </td>
<td class="paramname"><em>positiveVelocity</em>, </td>
</tr>
<tr>
<td class="paramkey"></td>
<td></td>
<td class="paramtype">short </td>
<td class="paramname"><em>negativeVelocity</em> </td>
</tr>
<tr>
<td></td>
<td>)</td>
<td></td><td></td>
</tr>
</table>
</div>
<div class="memdoc">
<p>Set speed limits </p>
</div>
</div>
<a class="anchor" id="a5b888b504b2461f55828e142ed404c17"></a><!-- doxytag: member="CMotBase::setTolerance" ref="a5b888b504b2461f55828e142ed404c17" args="(int tolerance)" -->
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<td class="memname">void CMotBase::setTolerance </td>
<td>(</td>
<td class="paramtype">int </td>
<td class="paramname"><em>tolerance</em></td><td>)</td>
<td></td>
</tr>
</table>
</div>
<div class="memdoc">
</div>
</div>
<a class="anchor" id="abc72d9d547dc7bd31c08b8c33f917f04"></a><!-- doxytag: member="CMotBase::setTPSP" ref="abc72d9d547dc7bd31c08b8c33f917f04" args="(int tar)" -->
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<td class="memname">void CMotBase::setTPSP </td>
<td>(</td>
<td class="paramtype">int </td>
<td class="paramname"><em>tar</em></td><td>)</td>
<td></td>
</tr>
</table>
</div>
<div class="memdoc">
<p>parallel movement </p>
<p>deprecated: for use with old Katana5M only </p>
</div>
</div>
<a class="anchor" id="a416dc9f0f913b03b9edd7280ef9758fc"></a><!-- doxytag: member="CMotBase::setTPSPDegrees" ref="a416dc9f0f913b03b9edd7280ef9758fc" args="(double tar)" -->
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<td class="memname">void CMotBase::setTPSPDegrees </td>
<td>(</td>
<td class="paramtype">double </td>
<td class="paramname"><em>tar</em></td><td>)</td>
<td></td>
</tr>
</table>
</div>
<div class="memdoc">
</div>
</div>
<a class="anchor" id="af7653527cb4ee6c5598efa91961c03c0"></a><!-- doxytag: member="CMotBase::waitForMotor" ref="af7653527cb4ee6c5598efa91961c03c0" args="(int tar, int encTolerance=100, short mode=0, int waitTimeout=TM_ENDLESS)" -->
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<td class="memname">void CMotBase::waitForMotor </td>
<td>(</td>
<td class="paramtype">int </td>
<td class="paramname"><em>tar</em>, </td>
</tr>
<tr>
<td class="paramkey"></td>
<td></td>
<td class="paramtype">int </td>
<td class="paramname"><em>encTolerance</em> = <code>100</code>, </td>
</tr>
<tr>
<td class="paramkey"></td>
<td></td>
<td class="paramtype">short </td>
<td class="paramname"><em>mode</em> = <code>0</code>, </td>
</tr>
<tr>
<td class="paramkey"></td>
<td></td>
<td class="paramtype">int </td>
<td class="paramname"><em>waitTimeout</em> = <code>TM_ENDLESS</code> </td>
</tr>
<tr>
<td></td>
<td>)</td>
<td></td><td></td>
</tr>
</table>
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<div class="memdoc">
<p>Waits until the Motor has reached the given targen position. </p>
</div>
</div>
<hr/><h2>Friends And Related Function Documentation</h2>
<a class="anchor" id="a099603b3fbe6a04e3b0d667a5e4770f3"></a><!-- doxytag: member="CMotBase::CKatBase" ref="a099603b3fbe6a04e3b0d667a5e4770f3" args="" -->
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<td class="memname">friend class <a class="el" href="classCKatBase.html">CKatBase</a><code> [friend]</code></td>
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<div class="memdoc">
<p>Definition at line <a class="el" href="kmlMotBase_8h_source.html#l00221">221</a> of file <a class="el" href="kmlMotBase_8h_source.html">kmlMotBase.h</a>.</p>
</div>
</div>
<hr/><h2>Member Data Documentation</h2>
<a class="anchor" id="a7df110e89c2f34bb8bacba4c9ee804df"></a><!-- doxytag: member="CMotBase::_calibrationParameters" ref="a7df110e89c2f34bb8bacba4c9ee804df" args="" -->
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<td class="memname"><a class="el" href="structTMotCLB.html">TMotCLB</a> <a class="el" href="classCMotBase.html#a7df110e89c2f34bb8bacba4c9ee804df">CMotBase::_calibrationParameters</a><code> [protected]</code></td>
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<p>calibration structure </p>
<p>Definition at line <a class="el" href="kmlMotBase_8h_source.html#l00232">232</a> of file <a class="el" href="kmlMotBase_8h_source.html">kmlMotBase.h</a>.</p>
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<a class="anchor" id="a568551fd2c45b8da94abd9afa4eaa7b0"></a><!-- doxytag: member="CMotBase::_encoderLimits" ref="a568551fd2c45b8da94abd9afa4eaa7b0" args="" -->
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<td class="memname"><a class="el" href="structTMotENL.html">TMotENL</a> <a class="el" href="classCMotBase.html#a568551fd2c45b8da94abd9afa4eaa7b0">CMotBase::_encoderLimits</a><code> [protected]</code></td>
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<p>motor limits in encoder values </p>
<p>Definition at line <a class="el" href="kmlMotBase_8h_source.html#l00233">233</a> of file <a class="el" href="kmlMotBase_8h_source.html">kmlMotBase.h</a>.</p>
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<a class="anchor" id="af70dfb2e18a9cf41f4fae051a6a8d0c3"></a><!-- doxytag: member="CMotBase::_initialParameters" ref="af70dfb2e18a9cf41f4fae051a6a8d0c3" args="" -->
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<td class="memname"><a class="el" href="structTMotInit.html">TMotInit</a> <a class="el" href="classCMotBase.html#af70dfb2e18a9cf41f4fae051a6a8d0c3">CMotBase::_initialParameters</a><code> [protected]</code></td>
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<p>Definition at line <a class="el" href="kmlMotBase_8h_source.html#l00234">234</a> of file <a class="el" href="kmlMotBase_8h_source.html">kmlMotBase.h</a>.</p>
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<a class="anchor" id="ab0236abff7c0502724311bed0d3dcf07"></a><!-- doxytag: member="CMotBase::aps" ref="ab0236abff7c0502724311bed0d3dcf07" args="" -->
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<td class="memname"><a class="el" href="structTMotAPS.html">TMotAPS</a> <a class="el" href="classCMotBase.html#ab0236abff7c0502724311bed0d3dcf07">CMotBase::aps</a><code> [protected]</code></td>
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<p>actual position </p>
<p>Definition at line <a class="el" href="kmlMotBase_8h_source.html#l00226">226</a> of file <a class="el" href="kmlMotBase_8h_source.html">kmlMotBase.h</a>.</p>
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<a class="anchor" id="adfed1980c70b83892f3d6f12e70649f8"></a><!-- doxytag: member="CMotBase::blocked" ref="adfed1980c70b83892f3d6f12e70649f8" args="" -->
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<td class="memname">bool <a class="el" href="classCMotBase.html#adfed1980c70b83892f3d6f12e70649f8">CMotBase::blocked</a><code> [protected]</code></td>
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<p>true if the motor was blocked due to a crash of the robot </p>
<p>Definition at line <a class="el" href="kmlMotBase_8h_source.html#l00237">237</a> of file <a class="el" href="kmlMotBase_8h_source.html">kmlMotBase.h</a>.</p>
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<a class="anchor" id="a3fb7810362426fdd48df72317be65427"></a><!-- doxytag: member="CMotBase::dyl" ref="a3fb7810362426fdd48df72317be65427" args="" -->
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<td class="memname"><a class="el" href="structTMotDYL.html">TMotDYL</a> <a class="el" href="classCMotBase.html#a3fb7810362426fdd48df72317be65427">CMotBase::dyl</a><code> [protected]</code></td>
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<p>dynamic limits </p>
<p>Definition at line <a class="el" href="kmlMotBase_8h_source.html#l00229">229</a> of file <a class="el" href="kmlMotBase_8h_source.html">kmlMotBase.h</a>.</p>
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<a class="anchor" id="ab9aebfbc3a429f560cd5dfba6ecc3fdb"></a><!-- doxytag: member="CMotBase::freedom" ref="ab9aebfbc3a429f560cd5dfba6ecc3fdb" args="" -->
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<td class="memname">bool <a class="el" href="classCMotBase.html#ab9aebfbc3a429f560cd5dfba6ecc3fdb">CMotBase::freedom</a><code> [protected]</code></td>
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<p>if it is set, it will move on a parallel movement </p>
<p>Definition at line <a class="el" href="kmlMotBase_8h_source.html#l00235">235</a> of file <a class="el" href="kmlMotBase_8h_source.html">kmlMotBase.h</a>.</p>
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<a class="anchor" id="a94a3017f0c6195521f37c8284827f3d9"></a><!-- doxytag: member="CMotBase::gnl" ref="a94a3017f0c6195521f37c8284827f3d9" args="" -->
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<td class="memname"><a class="el" href="structTMotGNL.html">TMotGNL</a> <a class="el" href="classCMotBase.html#a94a3017f0c6195521f37c8284827f3d9">CMotBase::gnl</a><code> [protected]</code></td>
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<p>motor generals </p>
<p>Definition at line <a class="el" href="kmlMotBase_8h_source.html#l00225">225</a> of file <a class="el" href="kmlMotBase_8h_source.html">kmlMotBase.h</a>.</p>
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<a class="anchor" id="a808658576b2bf34a99a5339896768928"></a><!-- doxytag: member="CMotBase::nmp" ref="a808658576b2bf34a99a5339896768928" args="" -->
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<td class="memname">bool <a class="el" href="classCMotBase.html#a808658576b2bf34a99a5339896768928">CMotBase::nmp</a><code> [protected]</code></td>
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<p>true if new motor parameters are implemented on the firmware </p>
<p>Definition at line <a class="el" href="kmlMotBase_8h_source.html#l00236">236</a> of file <a class="el" href="kmlMotBase_8h_source.html">kmlMotBase.h</a>.</p>
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<a class="anchor" id="a19e4a6c8e319c2d815e07599092beace"></a><!-- doxytag: member="CMotBase::protocol" ref="a19e4a6c8e319c2d815e07599092beace" args="" -->
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<td class="memname"><a class="el" href="classCCplBase.html">CCplBase</a>* <a class="el" href="classCMotBase.html#a19e4a6c8e319c2d815e07599092beace">CMotBase::protocol</a><code> [protected]</code></td>
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<p>protocol interface </p>
<p>Definition at line <a class="el" href="kmlMotBase_8h_source.html#l00264">264</a> of file <a class="el" href="kmlMotBase_8h_source.html">kmlMotBase.h</a>.</p>
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<a class="anchor" id="a92b64310d3b990a7451a155ca75709aa"></a><!-- doxytag: member="CMotBase::pvp" ref="a92b64310d3b990a7451a155ca75709aa" args="" -->
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<td class="memname"><a class="el" href="structTMotPVP.html">TMotPVP</a> <a class="el" href="classCMotBase.html#a92b64310d3b990a7451a155ca75709aa">CMotBase::pvp</a><code> [protected]</code></td>
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<p>reading motor parameters </p>
<p>Definition at line <a class="el" href="kmlMotBase_8h_source.html#l00230">230</a> of file <a class="el" href="kmlMotBase_8h_source.html">kmlMotBase.h</a>.</p>
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<a class="anchor" id="a754dca6c5982077b6a2d80bd79c2cca0"></a><!-- doxytag: member="CMotBase::scp" ref="a754dca6c5982077b6a2d80bd79c2cca0" args="" -->
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<td class="memname"><a class="el" href="structTMotSCP.html">TMotSCP</a> <a class="el" href="classCMotBase.html#a754dca6c5982077b6a2d80bd79c2cca0">CMotBase::scp</a><code> [protected]</code></td>
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<p>static controller parameters </p>
<p>Definition at line <a class="el" href="kmlMotBase_8h_source.html#l00228">228</a> of file <a class="el" href="kmlMotBase_8h_source.html">kmlMotBase.h</a>.</p>
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<a class="anchor" id="a1efaedeead0f850d1cf567a826d1ea1f"></a><!-- doxytag: member="CMotBase::sfw" ref="a1efaedeead0f850d1cf567a826d1ea1f" args="" -->
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<td class="memname"><a class="el" href="structTMotSFW.html">TMotSFW</a> <a class="el" href="classCMotBase.html#a1efaedeead0f850d1cf567a826d1ea1f">CMotBase::sfw</a><code> [protected]</code></td>
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<p>slave firmware </p>
<p>Definition at line <a class="el" href="kmlMotBase_8h_source.html#l00231">231</a> of file <a class="el" href="kmlMotBase_8h_source.html">kmlMotBase.h</a>.</p>
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<a class="anchor" id="af2216347d8a7a4c39e007060a944bb2b"></a><!-- doxytag: member="CMotBase::tps" ref="af2216347d8a7a4c39e007060a944bb2b" args="" -->
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<td class="memname"><a class="el" href="structTMotTPS.html">TMotTPS</a> <a class="el" href="classCMotBase.html#af2216347d8a7a4c39e007060a944bb2b">CMotBase::tps</a><code> [protected]</code></td>
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<p>target position </p>
<p>Definition at line <a class="el" href="kmlMotBase_8h_source.html#l00227">227</a> of file <a class="el" href="kmlMotBase_8h_source.html">kmlMotBase.h</a>.</p>
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<hr/>The documentation for this class was generated from the following file:<ul>
<li>include/KNI/<a class="el" href="kmlMotBase_8h_source.html">kmlMotBase.h</a></li>
</ul>
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<li class="navelem"><a class="el" href="classCMotBase.html">CMotBase</a> </li>
<li class="footer">Generated on Tue Feb 8 2011 for KatanaNativeInterface by 
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<img class="footer" src="doxygen.png" alt="doxygen"/></a> 1.7.3 </li>
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