Name 

Description 

 

Lock 

Lock (thread safe) the Group. 

 

Unlock 

Unlock (thread safe) the Group. 

 

Name 

Description 

 

~DevicesGroup 

This is ~DevicesGroup, a member of class DevicesGroup. 

 

~DevicesGroupMotor 

This is ~DevicesGroupMotor, a member of class DevicesGroupMotor. 

 

AddDevice 

AddDevice adds a device to the group. 

 

DevicesGroup 

This is DevicesGroup, a member of class DevicesGroup. 

 

DevicesGroupMotor 

This is DevicesGroupMotor, a member of class DevicesGroupMotor. 

 

GetConnection 

GetConnection returns ModaCPP::connection used by the group. 

 

GetDevicesCount 

Getting the group's devices count. 

 

GetEffectiveMaxTorques 

Getting the effective maximum torque of each motor of the group. 

 

GetGearboxReductions 

Getting the motors gearbox reduction. 

 

GetLastSystemError 

This is GetLastSystemError, a member of class DevicesGroup. 

 

GetOdometersCounters 

GetOdometersCounters allows to read the value of the odometer/encoder of each motor of the group. 

 

GetVelocitiesDPS 

GetVelocitiesDPS reads the rotational velocity (degrees per second) of each motor of the group. Velocity is the one after gearbox. 

 

GetVelocitiesRPS 

GetVelocitiesRPS reads the rotational velocity (radians per second) of each motor of the group. Velocity is the one after gearbox. 

 

GetWheelsOdoTops 

GetWheelsOdoTops makes it possible to read the number of odometer signals per turn of the wheel of each motor of the group. 

 

Off 

Turns the state of each device in the group to 'Off'. 

 

On 

Turns the state of each device in the group to 'On'. 

 

RAZOdometersCounters 

RAZOdometersCounters initializes to 0 the odometers counter of each motor of the group. 

 

RemoveDevice 

RemoveDevice removes the device of the group. 

 

SetEffectiveMaxTorque 

Changing motors effective maximum torque. 

 

SetEffectiveMaxTorques 

Changing motors effective maximum torque. 

 

SetTorque 

Torque regulation (nm). 

 

SetTorques 

Torque regulation (nm). 

 

SetVelocitiesDPS 

SetVelocitiesDPS changes the rotational velocity (degrees per second) of each motor of the group. 

 

SetVelocitiesRPS 

SetVelocitiesRPS changes the rotational velocity (radians per second) of each motor of the group. 

 

SetVelocityDPS 

SetVelocityDPS changes the rotational velocity (degrees per second) of each motor of the group. 

 

SetVelocityRPS 

SetVelocityRPS changes the rotational velocity (radians per second) of each motor of the group.