Class ICS3 Reference

class ICS3

The interface class of ICS3 communication.

constructor

• ICS3(const std::string& path, const Baudrate& baudrate = RATE115200())

ICS3(const std::string& path, const Baudrate& baudrate = RATE115200())

This constructor setup device for ICS3 communication.

• param:

• path: Path of serial device.
• baudrate: Baud rate of serial communication.

• throw:

• std::invalid_argument: Fail path. ex) Non tty device.
• std::runtime_error: Fail setup task. ex) Not exist device or fail set termios.

Usage

ics::ICS3 ics3 {"/dev/ttyUSB0", ics::Baudrate::RATE115200()};

After sample have ics3 instance without declaration. that mean ICS3 instance.

methods

• Angle move(const ID& id, Angle angle) const
• Angle free(const ID& id, Angle unit = Angle::newRadian())

Angle move(const ID& id, Angle angle) const

Move a motor to angle. Return now angle of it.

• param:

• id: id of a servo motor.
• angle: Want position.

• return: Now angle. angle unit is the same(param:angle).
• throw: std::runtime_error: Communication error.

Usage

constexpr ics::ID servoId {0};
ics::Angle target {ics::Angle::newDegree(20)};
ics::Angle nowPos {ics3.move(servoId, target)}; // servo(id:0) move to 20°,
                                               // return degree before moving.

Angle free(const ID& id, Angle unit = Angle::newRadian())

The motor get free torque, Return now angle of it.

• param:

• id: id of a servo motor.
• unit: Unit of return angle.

• return: Now angle. angle unit is the same(param:unit)
• throw: std::runtime_error: Communication error.

Usage

constexpr ics::ID servoID {0};
ics::Angle newPos {ics3.free(servoId, ics::Angle::newDegree())};
// servo(id:0) get free torque, return degree before moving.