Class TmcCoeMotor

Defined in File tmc_coe_motor.hpp

Inheritance Relationships

Derived Types

public TmcCoeBldcMotor (Class TmcCoeBldcMotor)
public TmcCoeStepperMotor (Class TmcCoeStepperMotor)

Class Documentation

class TmcCoeMotor

Subclassed by TmcCoeBldcMotor, TmcCoeStepperMotor

Public Functions

TmcCoeMotor(rclcpp::Node::SharedPtr p_node, TmcCoeInterpreter *p_tmc_coe_interpreter, uint8_t slave_number, uint8_t motor_number, std::string device_name)

virtual ~TmcCoeMotor()

virtual void init()

Protected Functions

void initPublisher()

virtual void initSubscriber()

virtual void publishTmcCoeInfo()

virtual void cmdVelCallback(const geometry_msgs::msg::Twist::SharedPtr msg)

virtual void cmdAbsPosCallback(const std_msgs::msg::Int32::SharedPtr msg)

virtual void cmdRelPosCallback(const std_msgs::msg::Int32::SharedPtr msg)

void cmdTrqCallback(const std_msgs::msg::Int32::SharedPtr msg)

Protected Attributes

rclcpp::Node::SharedPtr p_node_

TmcCoeInterpreter *p_tmc_coe_interpreter_

uint8_t slave_number_

uint8_t motor_number_

std::string device_name_

rclcpp::Publisher<adi_tmc_coe_interfaces::msg::TmcCoeInfo>::SharedPtr tmc_coe_info_pub_

rclcpp::TimerBase::SharedPtr tmc_coe_info_pub_timer_

rclcpp::Subscription<geometry_msgs::msg::Twist>::SharedPtr cmd_vel_sub_

rclcpp::Subscription<std_msgs::msg::Int32>::SharedPtr cmd_abspos_sub_

rclcpp::Subscription<std_msgs::msg::Int32>::SharedPtr cmd_relpos_sub_

rclcpp::Subscription<std_msgs::msg::Int32>::SharedPtr cmd_trq_sub_

bool param_en_pub_tmc_info_

bool param_pub_actual_vel_

bool param_pub_actual_pos_

bool param_pub_actual_trq_

std::string param_tmc_info_topic_

std::string param_tmc_cmd_vel_topic_

std::string param_tmc_cmd_abspos_topic_

std::string param_tmc_cmd_relpos_topic_

std::string param_tmc_cmd_trq_topic_

double param_wheel_diameter_

double param_add_ratio_vel_

double param_add_ratio_pos_

double param_add_ratio_trq_

std::string tmc_coe_info_frame_id_

int param_pub_rate_tmc_coe_info_