Public Member Functions | Private Types | Private Member Functions | Private Attributes
ArtSteer Class Reference

List of all members.

Public Member Functions

 ArtSteer ()
void run ()
 ~ArtSteer ()

Private Types

typedef art_msgs::DriverState DriverState

Private Member Functions

int calibrate_wheel_position (void)
void close ()
float degrees2volts (float degrees)
void GetCmd (const art_msgs::SteeringCommand::ConstPtr &cmdIn)
void GetPos (const art_msgs::IOadrState::ConstPtr &ioIn)
int open ()
void PublishStatus (void)
void read_wheel_angle (void)
float volts2degrees (float volts)

Private Attributes

bool angle_known_
boost::shared_ptr< Polynomialapoly_
int calibration_cycle_
int calibration_periods_
double cur_sensor_time_
boost::shared_ptr< devsteerdev_
bool diagnostic_
DriverState::_state_type driver_state_
ros::Subscriber ioadr_state_
double last_sensor_time_
float last_set_point_
float mean_voltage_
double sensor_timeout_
float set_point_
bool simulate_
float steering_angle_
ros::Subscriber steering_cmd_
ros::Publisher steering_diag_
float steering_sensor_
ros::Publisher steering_state_
boost::shared_ptr< testwheeltw_
boost::shared_ptr< Polynomialvpoly_
bool wheel_calibrated_
bool wheel_tested_

Detailed Description

Definition at line 76 of file

Member Typedef Documentation

Definition at line 120 of file

Constructor & Destructor Documentation

use this to detect when ioadr driver hung or not responding

Definition at line 164 of file

Definition at line 238 of file

Member Function Documentation

int ArtSteer::calibrate_wheel_position ( void  ) [private]

Definition at line 323 of file

void ArtSteer::close ( ) [private]

close the device.

driver_state_ is CLOSED

Definition at line 271 of file

float ArtSteer::degrees2volts ( float  degrees) [inline, private]

Definition at line 158 of file

void ArtSteer::GetCmd ( const art_msgs::SteeringCommand::ConstPtr cmdIn) [private]

Definition at line 278 of file

void ArtSteer::GetPos ( const art_msgs::IOadrState::ConstPtr ioIn) [private]

Definition at line 299 of file

int ArtSteer::open ( ) [private]

open the device.

0 if successful.
state is OPENED (if successful)

Definition at line 251 of file

void ArtSteer::PublishStatus ( void  ) [private]

publish current device status

Definition at line 374 of file

void ArtSteer::read_wheel_angle ( void  ) [private]

Get simulated wheel angle from driver

Only required when simulating the position sensor (even when using the real steering device).

this should NOT be called until after calibrate_wheel_position
when simulate_ is true, tries to set steering_angle_, steering_sensor_, cur_sensor_time_, angle_known_

Definition at line 359 of file

void ArtSteer::run ( )

Definition at line 394 of file

float ArtSteer::volts2degrees ( float  volts) [inline, private]

Definition at line 147 of file

Member Data Documentation

Definition at line 131 of file

boost::shared_ptr<Polynomial> ArtSteer::apoly_ [private]

Definition at line 139 of file

Definition at line 116 of file

Definition at line 99 of file

double ArtSteer::cur_sensor_time_ [private]

Definition at line 110 of file

boost::shared_ptr<devsteer> ArtSteer::dev_ [private]

Definition at line 135 of file

Definition at line 97 of file

Definition at line 121 of file

Definition at line 103 of file

double ArtSteer::last_sensor_time_ [private]

Definition at line 111 of file

float ArtSteer::last_set_point_ [private]

Definition at line 113 of file

float ArtSteer::mean_voltage_ [private]

Definition at line 117 of file

double ArtSteer::sensor_timeout_ [private]

Definition at line 100 of file

float ArtSteer::set_point_ [private]

Definition at line 112 of file

Definition at line 98 of file

float ArtSteer::steering_angle_ [private]

Definition at line 108 of file

Definition at line 104 of file

Definition at line 106 of file

float ArtSteer::steering_sensor_ [private]

Definition at line 109 of file

Definition at line 105 of file

boost::shared_ptr<testwheel> ArtSteer::tw_ [private]

Definition at line 136 of file

boost::shared_ptr<Polynomial> ArtSteer::vpoly_ [private]

Definition at line 141 of file

Definition at line 132 of file

Definition at line 133 of file

The documentation for this class was generated from the following file:
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Author(s): Austin Robot Technology, Jack O'Quin
autogenerated on Tue Sep 24 2013 10:43:23