Classes
class	KangarooStatus
	Stores the response to a status request. More...

class	KangarooSerial
	Create a KangarooSerial for the serial port you are using, and then attach a KangarooChannel for each channel you want to communicate with. More...

class	KangarooTimeout
	Encapsulates a starting time and duration. More...

class	KangarooChannel
	Lets you send commands to and get position, speed, etc. for a specific channel of the Kangaroo. More...

class	KangarooMonitor
	Makes it easy to track the status of position commands, speed commands, and any other commands that take time to complete. More...

Macros
#define	KANGAROO_DEFAULT_ADDRESS 128
	The default Packet Serial address for Kangaroo is 128.

#define	KANGAROO_DEFAULT_COMMAND_RETRY_INTERVAL 100
	By default, commands retry after 100 milliseconds if no response is received.

#define	KANGAROO_DEFAULT_COMMAND_TIMEOUT KANGAROO_INFINITE_TIMEOUT
	By default, commands are retried forever.

#define	KANGAROO_INFINITE_TIMEOUT -1
	This value, passed as a timeout, disables the timeout.

#define	KANGAROO_UNSPECIFIED_LIMIT -1
	This value, passed as a limit, leaves the limit unspecified.

Enumerations
enum	KangarooError { KANGAROO_NO_ERROR = 0x00, KANGAROO_NOT_STARTED = 0x01, KANGAROO_NOT_HOMED = 0x02, KANGAROO_CONTROL_ERROR = 0x03, KANGAROO_WRONG_MODE = 0x04 , KANGAROO_SERIAL_TIMEOUT = 0x06 , KANGAROO_TIMED_OUT = -0x02 }

enum	KangarooGetType { KANGAROO_GETP = 0x01, KANGAROO_GETPI = 0x41, KANGAROO_GETS = 0x02, KANGAROO_GETSI = 0x42, KANGAROO_GETMIN = 0x08, KANGAROO_GETMAX = 0x09 }

enum	KangarooGetFlags { KANGAROO_GET_DEFAULT = 0x00 , KANGAROO_GET_RAW_UNITS = 0x20 }

enum	KangarooMoveFlags { KANGAROO_MOVE_DEFAULT = 0x00, KANGAROO_MOVE_NO_DEFAULT_LIMITS = 0x08, KANGAROO_MOVE_RAW_UNITS = 0x20 }

enum	KangarooStatusFlags { KANGAROO_STATUS_NONE = 0x00, KANGAROO_STATUS_ERROR = 0x01, KANGAROO_STATUS_BUSY = 0x02 , KANGAROO_STATUS_RAW_UNITS = 0x20 }

enum	KangarooSystemCommand { KANGAROO_SYS_POWER_DOWN = 0x00, KANGAROO_SYS_POWER_DOWN_ALL = 0x01, KANGAROO_SYS_TUNE_ENTER_MODE = 0x03, KANGAROO_SYS_TUNE_SET_DISABLED_CHANNELS = 0x08, KANGAROO_SYS_TUNE_CONTROL_OPEN_LOOP = 0x06, KANGAROO_SYS_TUNE_GO = 0x04, KANGAROO_SYS_TUNE_ABORT = 0x05, KANGAROO_SYS_SET_BAUD_RATE = 0x20, KANGAROO_SYS_SET_SERIAL_TIMEOUT = 0x21 }

Functions
boolean	waitAll (size_t count, KangarooMonitor *monitors[], int32_t timeoutMS=KANGAROO_INFINITE_TIMEOUT)

boolean	waitAll (size_t count, KangarooMonitor *monitors[], const KangarooTimeout &timeout)

int	waitAny (size_t count, KangarooMonitor *monitors[], int32_t timeoutMS=KANGAROO_INFINITE_TIMEOUT)

int	waitAny (size_t count, KangarooMonitor *monitors[], const KangarooTimeout &timeout)

Detailed Description

Include this file to use the Kangaroo Arduino library.

Enumeration Type Documentation

enum KangarooError

Errors that can occur in response to status queries.

Enumerator
KANGAROO_NO_ERROR	No error occurred.
KANGAROO_NOT_STARTED	The channel is not started. Call KangarooChannel::start() on the channel.
KANGAROO_NOT_HOMED	The channel needs to be homed. Call KangarooChannel::home() on the channel.
KANGAROO_CONTROL_ERROR	A control error has occurred. Call KangarooChannel::start() on the channel to clear the control error.
KANGAROO_WRONG_MODE	The controller is in the wrong mode. For example, the DIP switches may be in Mixed Mode while the tune was done in Independent Mode.
KANGAROO_SERIAL_TIMEOUT	A serial timeout occurred, or the TX line was disconnected. Call KangarooChannel::start() on the channel to clear the serial timeout.
KANGAROO_TIMED_OUT	The requested timeout expired.

enum KangarooGetFlags

Flags that modify the behavior of a 'get' request.

Enumerator
KANGAROO_GET_DEFAULT	Normal behavior.
KANGAROO_GET_RAW_UNITS	Use raw units. For analog, raw units are millivolts. For quadrature, 4 raw units equal 1 line.

enum KangarooGetType

The possible 'get' request types.

Enumerator
KANGAROO_GETP	Absolute position.
KANGAROO_GETPI	Incremental position (relative to the position when the last command was issued).
KANGAROO_GETS	Absolute velocity.
KANGAROO_GETSI	Incremental velocity (relative to the speed when the last command was issued).
KANGAROO_GETMIN	The minimum position. This corresponds to DEScribe's Nominal Travel minimum.
KANGAROO_GETMAX	The maximum position. This corresponds to DEScribe's Nominal Travel maximum.

enum KangarooMoveFlags

Flags that modify the behavior of a motion request.

Enumerator
KANGAROO_MOVE_DEFAULT	Normal behavior.
KANGAROO_MOVE_NO_DEFAULT_LIMITS	Do not apply the speed limit and speed ramping source settings. By default, the speed limit comes from Kangaroo's potentiometers.
KANGAROO_MOVE_RAW_UNITS	Use raw units. For analog, raw units are millivolts. For quadrature, 4 raw units equal 1 line.

enum KangarooStatusFlags

Flags that provide details about a query response.

Enumerator
KANGAROO_STATUS_NONE	The response is normal.
KANGAROO_STATUS_ERROR	The response is an error.
KANGAROO_STATUS_BUSY	For a motion, this means the motion is not finished. For an error, this means the error (such as KANGAROO_NOT_HOMED) should self-clear. This corresponds to a lowercase letter in Simplified Serial.
KANGAROO_STATUS_RAW_UNITS	The value in the response is in raw units. For analog, raw units are millivolts. For quadrature, 4 raw units equal 1 line.

enum KangarooSystemCommand

Advanced commands that have special effects on the Kangaroo motion controller.

Enumerator
KANGAROO_SYS_POWER_DOWN	Powers down the channel.
KANGAROO_SYS_POWER_DOWN_ALL	Powers down all channels of the controller that receives the command.
KANGAROO_SYS_TUNE_ENTER_MODE	Enters tune mode 1 (Teach), 2 (Limit Switches), or 3 (Mechanical Stops). This corresponds to pressing the tune button to get to the mode you want. Do not expect a reply from this command.
KANGAROO_SYS_TUNE_SET_DISABLED_CHANNELS	Initially all channels are disabled for safety reasons after entering a tune mode. You must send this bitmask before beginning the tune. 0 enables all channels. Do not expect a reply from this command.
KANGAROO_SYS_TUNE_CONTROL_OPEN_LOOP	Sets the open loop power. This can be used to position for a Teach tune. The range is -(2^28-1) to 2^28-1. Do not expect a reply from this command.
KANGAROO_SYS_TUNE_GO	Begins the tune. This corresponds to pressing the tune button after you are in the desired mode. Tuning has an automatic serial timeout for safety reasons. You must continually send packets or it will abort. KangarooChannel::getP() in a loop does the job. Do not expect a reply from this command.
KANGAROO_SYS_TUNE_ABORT	Aborts the tune. Do not expect a reply from this command.
KANGAROO_SYS_SET_BAUD_RATE	Sets the baud rate. Do not expect a reply from this command.
KANGAROO_SYS_SET_SERIAL_TIMEOUT	Sets the serial timeout.

Function Documentation

boolean waitAll	(	size_t	count,
		KangarooMonitor *	monitors[],
		int32_t	timeoutMS = `KANGAROO_INFINITE_TIMEOUT`
	)

Waits until all of the monitors are done or the timeout expires.

Parameters

count	The number of monitors.
monitors	The monitors to wait for.
timeoutMS	The timeout to use, in milliseconds.

Returns: True if all of the monitors are done, or false if the timeout expired.

Remarks: If a monitor is null, it is ignored.

boolean waitAll	(	size_t	count,
		KangarooMonitor *	monitors[],
		const KangarooTimeout &	timeout
	)

Waits until all of the monitors are done or the timeout object expires.

Parameters

count	The number of monitors.
monitors	The monitors to wait for.
timeout	The timeout object to use.

Returns: True if all of the monitors are done, or false if the timeout expired.

Remarks: If a monitor is null, it is ignored.

int waitAny	(	size_t	count,
		KangarooMonitor *	monitors[],
		int32_t	timeoutMS = `KANGAROO_INFINITE_TIMEOUT`
	)

Waits until at least one of the monitors is done or the timeout expires.

Parameters

count	The number of monitors.
monitors	The monitors to wait for.
timeoutMS	The timeout to use, in milliseconds.

Returns: The array index of the monitor that is done, or -1 if the timeout expired.

Remarks: If a monitor is null, it is ignored.

int waitAny	(	size_t	count,
		KangarooMonitor *	monitors[],
		const KangarooTimeout &	timeout
	)

Waits until at least one of the monitors is done or the timeout expires.

Parameters

count	The number of monitors.
monitors	The monitors to wait for.
timeout	The timeout object to use.

Returns: The array index of the monitor that is done, or -1 if the timeout expired.

Remarks: If a monitor is null, it is ignored.

Classes

Macros

Enumerations

Functions

Detailed Description

Enumeration Type Documentation

Function Documentation