|
| | IoControl () |
| virtual | ~IoControl () |
| int | getStandardDigitalInputNum () |
| | Get the number of standard digital inputs.
|
| int | getToolDigitalInputNum () |
| | Get the number of tool digital IOs (including digital inputs and outputs).
|
| int | getConfigurableDigitalInputNum () |
| | Get the number of configurable digital inputs.
|
| int | getStandardDigitalOutputNum () |
| | Get the number of standard digital outputs.
|
| int | getToolDigitalOutputNum () |
| | Get the number of tool digital IOs (including digital inputs and outputs).
|
| int | setToolIoInput (int index, bool input) |
| | Set the specified tool digital IO as input or output.
|
| bool | isToolIoInput (int index) |
| | Determine whether the specified tool digital IO is configured as input.
|
| int | getConfigurableDigitalOutputNum () |
| | Get the number of configurable digital outputs.
|
| int | getStandardAnalogInputNum () |
| | Get the number of standard analog inputs.
|
| int | getToolAnalogInputNum () |
| | Get the number of tool analog inputs.
|
| int | getStandardAnalogOutputNum () |
| | Get the number of standard analog outputs.
|
| int | getToolAnalogOutputNum () |
| | Get the number of tool analog outputs.
|
| int | setDigitalInputActionDefault () |
| | Set all digital input actions to no trigger.
|
| int | setStandardDigitalInputAction (int index, StandardInputAction action) |
| | Set the trigger action for standard digital input.
|
| int | setToolDigitalInputAction (int index, StandardInputAction action) |
| | Set the trigger action for tool digital input.
|
| int | setConfigurableDigitalInputAction (int index, StandardInputAction action) |
| | Set the trigger action for configurable digital input.
|
| StandardInputAction | getStandardDigitalInputAction (int index) |
| | Get the trigger action for standard digital input.
|
| StandardInputAction | getToolDigitalInputAction (int index) |
| | Get the trigger action for tool digital input.
|
| StandardInputAction | getConfigurableDigitalInputAction (int index) |
| | Get the trigger action for configurable digital input.
|
| int | setDigitalOutputRunstateDefault () |
| | Set all digital output runstates to None.
|
| int | setStandardDigitalOutputRunstate (int index, StandardOutputRunState runstate) |
| | Set the runstate for standard digital output.
|
| int | setToolDigitalOutputRunstate (int index, StandardOutputRunState runstate) |
| | Set the runstate for tool digital output.
|
| int | setConfigurableDigitalOutputRunstate (int index, StandardOutputRunState runstate) |
| | Set the runstate for configurable digital output.
|
| StandardOutputRunState | getStandardDigitalOutputRunstate (int index) |
| | Get the runstate for standard digital output.
|
| StandardOutputRunState | getToolDigitalOutputRunstate (int index) |
| | Get the runstate for tool digital output.
|
| StandardOutputRunState | getConfigurableDigitalOutputRunstate (int index) |
| | Get the runstate for configurable digital output.
|
| int | setStandardAnalogOutputRunstate (int index, StandardOutputRunState runstate) |
| | Set the runstate for standard analog output.
|
| int | setToolAnalogOutputRunstate (int index, StandardOutputRunState runstate) |
| | Set the runstate for tool analog output.
|
| StandardOutputRunState | getStandardAnalogOutputRunstate (int index) |
| | Get the runstate for standard analog output.
|
| StandardOutputRunState | getToolAnalogOutputRunstate (int index) |
| | Get the runstate for tool analog output.
|
| int | setDigitalOutputAfterEStopDefault () |
| | Set all digital output states after emergency stop to default(no change)
|
| int | setAnalogOutputAfterEStopDefault () |
| | Set all analog output states after emergency stop to default(no change)
|
| int | setStandardDigitalOutputAfterEStop (int index, bool value) |
| | Set the value of a standard digital output after emergency stop
|
| int | setConfigurableDigitalOutputAfterEStop (int index, bool value) |
| | Set the value of a configurable digital output after emergency stop
|
| int | setStandardAnalogOutputAfterEStop (int index, double value) |
| | Set the value of standard analog output after emergency stop
|
| int | setStandardAnalogInputDomain (int index, int domain) |
| | Set the range of standard analog input.
|
| int | setToolAnalogInputDomain (int index, int domain) |
| | Set the range of tool analog input.
|
| int | getStandardAnalogInputDomain (int index) |
| | Get the domain of standard analog input.
|
| int | getToolAnalogInputDomain (int index) |
| | Get the domain of tool analog input.
|
| int | setStandardAnalogOutputDomain (int index, int domain) |
| | Set the range of standard analog output.
|
| int | setToolAnalogOutputDomain (int index, int domain) |
| | Set the range of tool analog output.
|
| int | getStandardAnalogOutputDomain (int index) |
| | Get the domain of standard analog output.
|
| int | getToolAnalogOutputDomain (int index) |
| | Get the domain of tool analog output.
|
| int | setToolVoltageOutputDomain (int domain) |
| | Set the tool voltage output value (unit: V)
|
| int | getToolVoltageOutputDomain () |
| | Get the tool voltage output value (unit: V)
|
| int | setStandardDigitalOutput (int index, bool value) |
| | Set the value of a standard digital output.
|
| int | setStandardDigitalOutputPulse (int index, bool value, double duration) |
| | Set digital output pulse.
|
| int | setToolDigitalOutput (int index, bool value) |
| | Set the value of tool digital output.
|
| int | setToolDigitalOutputPulse (int index, bool value, double duration) |
| | Set tool digital output pulse.
|
| int | setConfigurableDigitalOutput (int index, bool value) |
| | Set the value of configurable digital output.
|
| int | setConfigurableDigitalOutputPulse (int index, bool value, double duration) |
| | Set configurable digital output pulse.
|
| int | setStandardAnalogOutput (int index, double value) |
| | Set the value of standard analog output.
|
| int | setToolAnalogOutput (int index, double value) |
| | Set the value of tool analog output.
|
| bool | getStandardDigitalInput (int index) |
| | Get the value of a standard digital input.
|
| uint32_t | getStandardDigitalInputs () |
| | Get all standard digital input values.
|
| bool | getToolDigitalInput (int index) |
| | Get the value of tool digital input.
|
| uint32_t | getToolDigitalInputs () |
| | Get all tool digital input values.
|
| bool | getConfigurableDigitalInput (int index) |
| | Get the value of configurable digital input.
|
| uint32_t | getConfigurableDigitalInputs () |
| | Get all configurable digital input values.
|
| bool | getStandardDigitalOutput (int index) |
| | Get the value of a standard digital output.
|
| uint32_t | getStandardDigitalOutputs () |
| | Get all standard digital output values.
|
| bool | getToolDigitalOutput (int index) |
| | Get the value of tool digital output.
|
| uint32_t | getToolDigitalOutputs () |
| | Get all tool digital output values.
|
| bool | getConfigurableDigitalOutput (int index) |
| | Get the value of configurable digital output.
|
| uint32_t | getConfigurableDigitalOutputs () |
| | Get all configurable digital output values.
|
| double | getStandardAnalogInput (int index) |
| | Get the value of standard analog input.
|
| double | getToolAnalogInput (int index) |
| | Get the value of tool analog input.
|
| double | getStandardAnalogOutput (int index) |
| | Get the value of standard analog output.
|
| double | getToolAnalogOutput (int index) |
| | Get the value of tool analog output.
|
| int | getStaticLinkInputNum () |
| | Get the number of static link inputs.
|
| int | getStaticLinkOutputNum () |
| | Get the number of static link outputs.
|
| uint32_t | getStaticLinkInputs () |
| | Get all static link input values.
|
| uint32_t | getStaticLinkOutputs () |
| | Get all static link output values.
|
| bool | hasEncoderSensor () |
| | Whether the robot is equipped with an encoder.
|
| int | setEncDecoderType (int type, int range_id) |
| | Set the decoding method of the integrated encoder.
|
| int | setEncTickCount (int tick) |
| | Set the tick count of the integrated encoder.
|
| int | getEncDecoderType () |
| | Get the decoder type of the encoder.
|
| int | getEncTickCount () |
| | Get the tick count
|
| int | unwindEncDeltaTickCount (int delta_count) |
| | Prevent counting errors when the count exceeds the range
|
| bool | getToolButtonStatus () |
| | Get the status of the tool button.
|
| uint32_t | getHandleIoStatus () |
| | Get the status of handle buttons.
|
| int | getHandleType () |
| | Get the handle type.
|
1.16.1