Class ActuatorInterface

• Defined in File actuator_interface.hpp

Class Documentation

class ActuatorInterface

Actuator for commanding the MyActuator RMD actuator series.

Public Functions

ActuatorInterface(Driver &driver, std::uint32_t const actuator_id)

ActuatorInterface() = delete

Class constructor.

Parameters:

• driver – [in] The driver communicating over the network interface

• actuator_id – [in] The actuator id [1, 32]

ActuatorInterface(ActuatorInterface const&) = default

ActuatorInterface &operator=(ActuatorInterface const&) = default

ActuatorInterface(ActuatorInterface&&) = default

ActuatorInterface &operator=(ActuatorInterface&&) = default

std::int32_t getAcceleration()

Reads the current acceleration.

Returns:

The current acceleration in dps with a resolution of 1 dps

std::uint16_t getCanId()

Get the CAN ID of the device.

Returns:

The CAN ID of the device starting at 0x240

Gains getControllerGains()

Reads the currently used controller gains.

Returns:

The currently used controller gains for current, speed and position as unsigned 8-bit integers

ControlMode getControlMode()

Reads the currently used control mode.

Returns:

The currently used control mode

std::string getMotorModel()

Reads the motor model currently in use by the actuator.

Returns:

The motor model string currently in use by the actuator, e.g. ‘X8S2V10’

float getMotorPower()

Reads the current motor power consumption in Watt.

Returns:

The current motor power consumption in Watt with a resolution of 0.1

MotorStatus1 getMotorStatus1()

Reads the motor status 1.

Returns:

The motor status 1 containing temperature, voltage and error codes

MotorStatus2 getMotorStatus2()

Reads the motor status 2.

Returns:

The motor status 2 containing current, speed and position

MotorStatus3 getMotorStatus3()

Reads the motor status 3.

Returns:

The motor status 3 containing detailed current information

float getMultiTurnAngle()

Read the multi-turn angle.

Returns:

The current multi-turn angle with a resolution of 0.01 deg

std::int32_t getMultiTurnEncoderPosition()

Read the multi-turn encoder position subtracted by the encoder multi-turn zero offset.

Returns:

The multi-turn encoder position

std::int32_t getMultiTurnEncoderOriginalPosition()

Read the raw multi-turn encoder position without taking into consideration the multi-turn zero offset.

Returns:

The multi-turn encoder position

std::int32_t getMultiTurnEncoderZeroOffset()

Read the multi-turn encoder zero offset.

Returns:

The multi-turn encoder zero offset

std::chrono::milliseconds getRuntime()

Reads the uptime of the actuator in milliseconds.

Returns:

The uptime of the actuator in milliseconds

float getSingleTurnAngle()

Read the single-turn angle.

Warning

This does not seem to give correct values with my X8-PRO V2 actuator!

Returns:

The current single-turn angle with a resolution of 0.01 deg

std::int16_t getSingleTurnEncoderPosition()

Read the single-turn encoder position.

Returns:

The single-turn encoder position

std::uint32_t getVersionDate()

Reads the version date of the actuator firmware.

Returns:

The version date of the firmware on the actuator, e.g. ‘20220206’

void lockBrake()

Close the holding brake. The motor won’t be able to turn anymore.

void releaseBrake()

Open the holding brake leaving the motor in a movable state.

void reset()

Reset the actuator.

Feedback sendCurrentSetpoint(float const current)

Send a current set-point to the actuator.

Parameters:

current – [in] The current set-point in Ampere

Returns:

Feedback control message containing actuator position, velocity, torque and temperature

Feedback sendPositionAbsoluteSetpoint(float const position, float const max_speed = 500.0)

Send an absolute position set-point to the actuator additionally specifying a maximum velocity.

Parameters:

• position – [in] The position set-point in degree

• max_speed – [in] The maximum speed for the motion in degree per second

Returns:

Feedback control message containing actuator position, velocity, torque and temperature

Feedback sendTorqueSetpoint(float const torque, float const torque_constant)

Send a torque set-point to the actuator by setting the current.

Parameters:

• torque – [in] The desired torque in [Nm]

• torque_constant – [in] The motor’s torque constant [Nm/A], depends on the model of the motor, refer to actuator_constants.hpp for the torque constant of your actuator

Returns:

Feedback control message containing actuator position, velocity, torque and temperature

Feedback sendVelocitySetpoint(float const speed)

Send a velocity set-point to the actuator.

Parameters:

speed – [in] The speed set-point in degree per second

Returns:

Feedback control message containing actuator position, velocity, torque and temperature

void setAcceleration(std::uint32_t const acceleration, AccelerationType const mode)

Write the acceleration/deceleration for the different modes to RAM and ROM (persistent)

Parameters:

• acceleration – [in] The desired acceleration/deceleration in dps with a resolution of 1 dps/s [100, 60000] For continuous motions the acceleration should be set to the value 0, see https://github.com/2b-t/myactuator_rmd/issues/10#issuecomment-2195847459

• mode – [in] The mode of the desired acceleration/deceleration to be set

void setCanBaudRate(CanBaudRate const baud_rate)

Set the communication Baud rate for CAN bus.

Parameters:

baud_rate – [in] Communication Baud rate that the actuator should operator with

void setCanId(std::uint16_t const can_id)

Set the CAN ID of the device.

Parameters:

can_id – [in] The CAN ID of the device in the range [1, 32]

std::int32_t setCurrentPositionAsEncoderZero()

Set the zero offset (initial position) of the encoder to the current position.

Warning

Motor has be restarted in order for this to become effective

Returns:

Current encoder position that was set to be zero

void setEncoderZero(std::int32_t const encoder_offset)

Set the zero offset (initial position) of the encoder to a given value.

Warning

Motor has be restarted in order for this to become effective

Parameters:

encoder_offset – [in] Encoder offset that should be set as zero

Gains setControllerGains(Gains const &gains, bool const is_persistent = false)

Write the currently used controller gains either to RAM (not persistent after reboot) or ROM (persistent)

Parameters:

• gains – [in] The PI-gains for current, speed and position to be set

• is_persistent – [in] Boolean argument signaling whether the controller gains should be persistent after reboot of the actuator or not

Returns:

The currently used controller gains for current, speed and position as unsigned 8-bit integers

void setTimeout(std::chrono::milliseconds const &timeout)

Set the communication interruption protection time setting. The break will be triggered if the communication is interrupted for longer than the set time. The value 0 disables this feature.

Parameters:

timeout – [in] The desired interruption protection time, 0 in case it should be disabled

void shutdownMotor()

Turn off the motor.

void stopMotor()

Stop the motor if running closed loop command.

Protected Attributes

Driver &driver_

std::uint32_t actuator_id_