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. 

 

~DevicesGroupServo 

This is ~DevicesGroupServo, a member of class DevicesGroupServo. 

 

AddDevice 

AddDevice adds a device to the group. 

 

DevicesGroup 

This is DevicesGroup, a member of class DevicesGroup. 

 

DevicesGroupServo 

This is DevicesGroupServo, a member of class DevicesGroupServo. 

 

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. 

 

GetLastSystemError 

This is GetLastSystemError, a member of class DevicesGroup. 

 

GetPositionsDeg 

GetPositionsDeg reads the position in degrees of each servo of the group. 

 

GetPositionsIndices 

GetPositionsIndices reads the position of each servo of the group. The position is expressed in indices. 

 

GetPositionsRad 

GetPositionsRad reads the position in radians of each servo 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. 

 

GoPositionDeg 

 

 

GoPositionIndex 

 

 

GoPositionRad 

 

 

GoPositionsDeg 

GoPositionsDeg changes the position command of the servos present within the group. Each servo has its own set point and its own movement speed. 

 

GoPositionsIndex 

GoPositionsIndex changes the position command of the servos present within the group. Each servo has its own set point and its own movement speed. 

 

GoPositionsRad 

GoPositionsRad changes the position command of the servos present within the group. Each servo has its own set point and its own movement speed. 

 

Off 

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

 

On 

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

 

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. 

 

WaitPositionsDegComplete 

Wait servos reach specific angular positions (degrees). 

 

WaitPositionsDegCompleteWithError 

Wait servos reach specific angular positions (degrees). 

 

WaitPositionsDegCompleteWithErrors 

Wait servos reach specific angular positions (degrees). 

 

WaitPositionsRadComplete 

Wait servos reach specific angular positions (radians). 

 

WaitPositionsRadCompleteWithError 

Wait servos reach specific angular positions (radians). 

 

WaitPositionsRadCompleteWithErrors 

Wait servos reach specific angular positions (radians).