Class SafetyGate

The gate every motion command passes through: an e-stop, a watchdog, and limits.

Index

Constructors

Accessors

Methods

command engageEstop feed resetEstop

Constructors

constructor

new SafetyGate(limits: Limits, watchdogTimeout: number): SafetyGate
Creates a gate from limits, copied as they stand, and a watchdog timeout.
Parameters
- limits: Limits
- watchdogTimeout: number
Returns SafetyGate
- Defined in packages/native/index.d.ts:2963

Accessors

isStopped

get isStopped(): boolean
Whether the gate is forcing a stop: its e-stop is engaged or its watchdog expired.

Returns boolean
- Defined in packages/native/index.d.ts:2971

Methods

command

command(desired: Twist, dt: number): Twist
Returns the command that is safe to drive: a zero twist while stopped, otherwise desired bounded by the limits.
Parameters
- desired: Twist
- dt: number
Returns Twist
- Defined in packages/native/index.d.ts:2976

engageEstop

engageEstop(): void
Engages the latching e-stop.

Returns void
- Defined in packages/native/index.d.ts:2967

feed

feed(): void
Feeds the watchdog; call it whenever a fresh command arrives.

Returns void
- Defined in packages/native/index.d.ts:2965

resetEstop

resetEstop(): void
Clears the e-stop.

Returns void
- Defined in packages/native/index.d.ts:2969