devthrottle Class Reference

#include <devthrottle.h>

Inheritance diagram for devthrottle:

[legend]

List of all members.

Public Member Functions
int	Close (void)
	devthrottle (bool train)
float	get_position (void)
int64_t	GetTime ()
int	Open (const char *device)
bool	query_estop (void)
int	query_pid (float *pwm, float *dstate, float *istate)
int	query_rpms (float *data)
int	query_status ()
int	throttle_absolute (float position)
int	throttle_relative (float delta)
	~devthrottle ()
Public Attributes
int	avr_kd
int	avr_ki
int	avr_kp
int	avr_out_max
int	avr_pos_epsilon
double	avr_pos_max
int	avr_pos_min
double	avr_pos_range
double	rpm_redline
double	throttle_limit
Private Member Functions
float	avr2pos (uint8_t avr_val)
int	calibrate_idle (void)
uint8_t	cmd_compute_csum (uint8_t *buffer, int len)
int	configure_controller (void)
void	decode_char (char c, int *resp_bytes, int *resp_digits)
int	format_cmd (char *cmdstr)
float	limit_travel (float position)
uint8_t	pos2avr (float position)
int	read_byte (int linelen)
int	send_cmd (int ccode)
int	send_cmd08 (int ccode, uint8_t data)
int	send_cmd16 (int ccode, uint16_t data)
int	send_cmd32 (int ccode, uint32_t data)
int	send_goto (uint8_t pos)
int	servo_cmd (void)
int	validate_response (int resp_bytes, int linelen)
Private Attributes
bool	already_configured
struct avr_cmd	cmd
uint8_t *	cmd_p
float	cur_position
float	last_req
struct avr_cmd	resp
uint8_t *	resp_p
struct avr_cmd	stat
bool	training

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Detailed Description

Definition at line 26 of file devthrottle.h.

---

Constructor & Destructor Documentation

devthrottle::devthrottle

(

bool

train

)

Definition at line 43 of file devthrottle.cc.

devthrottle::~devthrottle

(

)

[inline]

Definition at line 49 of file devthrottle.h.

---

Member Function Documentation

float devthrottle::avr2pos

(

uint8_t

avr_val

)

[inline, private]

Definition at line 111 of file devthrottle.h.

int devthrottle::calibrate_idle

(

void

)

[private]

Definition at line 244 of file devthrottle.cc.

int devthrottle::Close

(

void

)

[virtual]

Reimplemented from Servo.

Definition at line 133 of file devthrottle.cc.

uint8_t devthrottle::cmd_compute_csum	(	uint8_t *	buffer,
		int	len
	)			[private]

Definition at line 308 of file devthrottle.cc.

int devthrottle::configure_controller

(

void

)

[private]

Definition at line 323 of file devthrottle.cc.

void devthrottle::decode_char	(	char	c,
		int *	resp_bytes,
		int *	resp_digits
	)			[inline, private]

Definition at line 363 of file devthrottle.cc.

int devthrottle::format_cmd

(

char *

cmdstr

)

[inline, private]

Definition at line 387 of file devthrottle.cc.

float devthrottle::get_position

(

void

)

[inline]

Definition at line 57 of file devthrottle.h.

int64_t devthrottle::GetTime

(

)

Definition at line 37 of file devthrottle.cc.

float devthrottle::limit_travel

(

float

position

)

[inline, private]

Definition at line 100 of file devthrottle.h.

int devthrottle::Open

(

const char *

device

)

[virtual]

Reimplemented from Servo.

Definition at line 97 of file devthrottle.cc.

uint8_t devthrottle::pos2avr

(

float

position

)

[inline, private]

Definition at line 108 of file devthrottle.h.

bool devthrottle::query_estop

(

void

)

Definition at line 139 of file devthrottle.cc.

int devthrottle::query_pid	(	float *	pwm,
		float *	dstate,
		float *	istate
	)

Definition at line 144 of file devthrottle.cc.

int devthrottle::query_rpms

(

float *

data

)

Definition at line 164 of file devthrottle.cc.

int devthrottle::query_status

(

)

Definition at line 180 of file devthrottle.cc.

int devthrottle::read_byte

(

int

linelen

)

[inline, private]

Definition at line 426 of file devthrottle.cc.

int devthrottle::send_cmd

(

int

ccode

)

[private]

Definition at line 489 of file devthrottle.cc.

int devthrottle::send_cmd08	(	int	ccode,
		uint8_t	data
	)			[private]

Definition at line 495 of file devthrottle.cc.

int devthrottle::send_cmd16	(	int	ccode,
		uint16_t	data
	)			[private]

Definition at line 502 of file devthrottle.cc.

int devthrottle::send_cmd32	(	int	ccode,
		uint32_t	data
	)			[private]

Definition at line 509 of file devthrottle.cc.

int devthrottle::send_goto

(

uint8_t

pos

)

[inline, private]

Definition at line 517 of file devthrottle.cc.

int devthrottle::servo_cmd

(

void

)

[private]

Definition at line 529 of file devthrottle.cc.

int devthrottle::throttle_absolute

(

float

position

)

Todo:

once controller returns RPMs correctly, check rpm_redline

Definition at line 218 of file devthrottle.cc.

int devthrottle::throttle_relative

(

float

delta

)

Definition at line 227 of file devthrottle.cc.

int devthrottle::validate_response	(	int	resp_bytes,
		int	linelen
	)			[inline, private]

Definition at line 596 of file devthrottle.cc.

---

Member Data Documentation

bool devthrottle::already_configured [private]

Definition at line 72 of file devthrottle.h.

int devthrottle::avr_kd

Definition at line 37 of file devthrottle.h.

int devthrottle::avr_ki

Definition at line 36 of file devthrottle.h.

int devthrottle::avr_kp

Definition at line 35 of file devthrottle.h.

int devthrottle::avr_out_max

Definition at line 38 of file devthrottle.h.

int devthrottle::avr_pos_epsilon

Definition at line 46 of file devthrottle.h.

double devthrottle::avr_pos_max

Definition at line 43 of file devthrottle.h.

int devthrottle::avr_pos_min

Definition at line 44 of file devthrottle.h.

double devthrottle::avr_pos_range

Definition at line 45 of file devthrottle.h.

struct avr_cmd devthrottle::cmd [private]

Definition at line 75 of file devthrottle.h.

uint8_t* devthrottle::cmd_p [private]

Definition at line 79 of file devthrottle.h.

float devthrottle::cur_position [private]

Definition at line 82 of file devthrottle.h.

float devthrottle::last_req [private]

Definition at line 83 of file devthrottle.h.

struct avr_cmd devthrottle::resp [private]

Definition at line 76 of file devthrottle.h.

uint8_t* devthrottle::resp_p [private]

Definition at line 80 of file devthrottle.h.

double devthrottle::rpm_redline

Definition at line 33 of file devthrottle.h.

struct avr_cmd devthrottle::stat [private]

Definition at line 74 of file devthrottle.h.

double devthrottle::throttle_limit

Definition at line 34 of file devthrottle.h.

bool devthrottle::training [private]

Definition at line 71 of file devthrottle.h.

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The documentation for this class was generated from the following files:

• devthrottle.h
• devthrottle.cc