Name 

Description 

 

~Device 

This is ~Device, a member of class Device. 

 

~DeviceMotor 

This is ~DeviceMotor, a member of class DeviceMotor. 

 

~DeviceServoMotor 

This is ~DeviceServoMotor, a member of class DeviceServoMotor. 

 

~ModaEntity 

This is ~ModaEntity, a member of class ModaEntity. 

 

Device 

This is Device, a member of class Device. 

 

DeviceMotor 

 

 

DeviceServoMotor 

This is DeviceServoMotor, a member of class DeviceServoMotor. 

 

Equals 

Tests equality between two MODA entities. 

 

Flush 

Flushes device raw data flows. 

 

GetClass 

Getting the entity's primary class. 

 

GetConfiguration 

Getting the servo's configuration. 

 

GetConnection 

Getting the Moda::Connection object. 

 

GetEffectiveMaxAccelerationDEG 

Getting the maximum acceleration that the motor can produce (Deg/s^2). 

 

GetEffectiveMaxAccelerationRAD 

Getting the maximum acceleration that the motor can produce (Rad/s^2). 

 

GetEffectiveMaxTorque 

Getting the maximum torque that the motor can apply. 

 

GetEffectiveMaxVelocityDPS 

Getting the maximum velocity that the motor (or servo) can produce (Deg/s). 

 

GetEffectiveMaxVelocityRPS 

Getting the maximum velocity that the motor (or servo) can produce (Rad/s). 

 

GetFullName 

Getting the entity's full name (absolute path). 

 

GetGearboxReduction 

Getting the motor's gearbox reduction. 

 

GetLastMeasureTime 

Getting the update time of the latest measure. 

 

GetLastSystemError 

Getting the latest system error. 

 

GetMaxAccelerationDEG 

Getting the maximum acceleration defined in motor's settings (Deg/s^2). 

 

GetMaxAccelerationRAD 

Getting the maximum acceleration defined in motor's settings (Rad/s^2). 

 

GetMaxTorque 

Getting the maximum torque defined in motor's settings. 

 

GetMaxVelocityDPS 

Getting the maximum velocity defined in motor's settings (Deg/s). 

 

GetMaxVelocityRPS 

Getting the maximum velocity defined in motor's settings (Rad/s). 

 

GetName 

Getting the entity's relative name (short name). 

 

GetOdometerCounter 

Getting the motor odometer/encoder counter. 

 

GetPHXParent 

Getting the device's parent RobotPHX. 

 

GetPositionDeg 

Getting the servo angular position. 

 

GetPositionIndex 

Getting the servo indexed position. 

 

GetPositionRad 

Getting the servo angular position. 

 

GetRobot 

GetPHXParent alias. 

 

GetUpdateDelay 

Getting the device's update delay 

 

GetVelocityDPS 

Gets the motor axis rotational speed. Returned speed if the one measured after the motoreductor/gearbox. 

 

GetVelocityRPS 

Gets the motor axis rotationnal speed. Returned speed if the one measured after the motoreductor/gearbox. 

 

GetWheelOdoTops 

Getting the value of the encoder tops for one complete axis rotation. 

 

GoPositionDeg 

 

 

GoPositionIndex 

 

 

GoPositionRad 

 

 

IsConnected 

Connection state 

 

Message 

 

 

MessageEx 

 

 

ModaEntity 

This is ModaEntity, a member of class ModaEntity. 

 

Off 

Turning the device state to OFF. 

 

On 

Turning the device state to ON. 

 

OnStartup 

Entity Startup Notification. 

 

RawRead 

Reads raw data from the device 

 

RawWrite 

Writes raw data to the device. 

 

RawWriteString 

Writes a string to the raw data flow of the device. 

 

RAZOdometerCounter 

Sets the encoder counter to 0. 

 

ResetLastSystemError 

Initializing last system error. 

 

SetEffectiveMaxAccelerationDEG 

Changing the maximum acceleration. 

 

SetEffectiveMaxAccelerationRAD 

Changing the maximum acceleration. 

 

SetEffectiveMaxTorque 

Changing the motor's torque. 

 

SetEffectiveMaxVelocityDPS 

Changing the motors's maximum velocity. 

 

SetEffectiveMaxVelocityRPS 

Changing the motors's maximum velocity. 

 

SetTorque 

Motor or Servo torque regulation (nm). 

 

SetUpdateDelay 

Changing the update delay of the device. 

 

SetVelocityDPS 

Changing motor's rotational speed. 

 

SetVelocityRPS 

Changing motor's rotational speed. 

 

WaitPositionDegComplete 

Wait an angular position (degrees). 

 

WaitPositionRadComplete 

Wait an angular position (radians).