Class MotorDriver

Class Documentation

class MotorDriver

Class to handle serial communication with the motor driver It is used to send commands to the motor driver and read encoder values. The use:

  1. Create an instance of the class.

  2. Call Setup() to initialize the serial connection.

  3. Use api to send commands to the motor driver.

Public Types

using Encoders = std::array<int, 2>

Type to store the encoder values.

Public Functions

MotorDriver() = default

Default constructor.

void Setup(const std::string &serial_device, int32_t baud_rate, int32_t timeout_ms)
Parameters:

  • serial_device – [in] Path to the serial device(eg. /dev/ttyACM0)

  • baud_rate – [in] Baud rate of the serial connection(eg. 57600)

  • timeout_ms – [in] Timeout in milliseconds.

void SendEmptyMsg()

Send an empty message to the motor driver. The use of this function is to ensure that the motor driver is ready to receive a new command.

Encoders ReadEncoderValues()

Read the encoder values from the motor driver. First value is the left encoder, second value is the right encoder.

Returns:

The encoder values.

void SetMotorValues(int val_1, int val_2)

Set the motor values. The unit of the values is in encoder ticks per revolution.

Parameters:

  • val_1 – Value for the first motor.

  • val_2 – Value for the second motor.

void SetPidValues(float k_p, float k_d, float k_i, float k_o)

Set the PID values.

Parameters:

  • k_p – Proportional gain.

  • k_d – Derivative gain.

  • k_i – Integral gain.

  • k_o – Offset gain.

bool is_connected() const

Check if the serial connection is open.

Returns:

True if the serial connection is open, false otherwise.

std::string SendMsg(const std::string &msg_to_send)

Send a message to the motor driver and read the response. The message is sent with a carriage return appended to it.

Parameters:

msg_to_send – [in] Message to send to the motor driver.

Returns:

The response from the motor driver.