MotorControllerNode Class Reference

#include <motor_controller_node.h>

List of all members.

Public Member Functions
void	init ()
	Initialize the mcdc3006s node.
bool	joint_calibration (maggie_motor_controller_msgs::MoveAbsPos::Request &req, maggie_motor_controller_msgs::MoveAbsPos::Response &resp)
	Callback to calibrate the joint.
	MotorControllerNode (MotorDriverInterface *driver)
	Empty constructor.
bool	move_abs_pos (maggie_motor_controller_msgs::MoveAbsPos::Request &req, maggie_motor_controller_msgs::MoveAbsPos::Response &resp)
	Callback to move motors by absolute position.
bool	move_rel_pos (maggie_motor_controller_msgs::MoveAbsPos::Request &req, maggie_motor_controller_msgs::MoveAbsPos::Response &resp)
	Callback to move motors by relative position.
bool	move_vel (maggie_motor_controller_msgs::MoveAbsPos::Request &req, maggie_motor_controller_msgs::MoveAbsPos::Response &resp)
	Callback to move motors in velocity.
void	publish ()
	Publish information from the motors.
bool	set_cur_lim (maggie_motor_controller_msgs::Configuration::Request &req, maggie_motor_controller_msgs::Configuration::Response &resp)
	Callback to set the current limit of the motor.
bool	set_max_acc (maggie_motor_controller_msgs::Configuration::Request &req, maggie_motor_controller_msgs::Configuration::Response &resp)
	Callback to set the maximum acceleration of the motor.
bool	set_max_dec (maggie_motor_controller_msgs::Configuration::Request &req, maggie_motor_controller_msgs::Configuration::Response &resp)
	Callback to set the maximum deceleration of the motor.
bool	set_max_pos (maggie_motor_controller_msgs::Configuration::Request &req, maggie_motor_controller_msgs::Configuration::Response &resp)
	Callback to set the maximum position of the motor.
bool	set_max_vel (maggie_motor_controller_msgs::Configuration::Request &req, maggie_motor_controller_msgs::Configuration::Response &resp)
	Callback to set the maximum velocity of the motor.
bool	set_min_pos (maggie_motor_controller_msgs::Configuration::Request &req, maggie_motor_controller_msgs::Configuration::Response &resp)
	Callback to set the minimum position of the motor.
void	spin ()
	Spin the node.
	~MotorControllerNode ()
	Destructor.
Private Attributes
float	_calibration_home
ros::ServiceServer	_calibration_srv
ros::ServiceServer	_cur_lim_srv
ros::Publisher	_data_msg
MotorDriverInterface *	_driver
int	_joint_id
std::string	_joint_name
ros::ServiceServer	_max_acc_srv
ros::ServiceServer	_max_dec_srv
ros::ServiceServer	_max_pos_srv
ros::ServiceServer	_max_vel_srv
ros::ServiceServer	_min_pos_srv
ros::ServiceServer	_mov_abs_pos_srv
ros::ServiceServer	_mov_rel_pos_srv
ros::ServiceServer	_mov_vel_srv
ros::NodeHandle	_nh
ros::NodeHandle	_nh_private
ros::Publisher	_odo_msg
ros::ServiceServer	_odo_srv
int	_pos_factor
ros::Rate	_publish_rate
std::string	_serial_device
int	_vel_factor

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Detailed Description

Definition at line 42 of file motor_controller_node.h.

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Constructor & Destructor Documentation

MotorControllerNode::MotorControllerNode

(

MotorDriverInterface *

driver

)

Empty constructor.

Definition at line 30 of file motor_controller_node.cpp.

MotorControllerNode::~MotorControllerNode

(

)

Destructor.

Definition at line 127 of file motor_controller_node.cpp.

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Member Function Documentation

void MotorControllerNode::init

(

)

Initialize the mcdc3006s node.

Definition at line 134 of file motor_controller_node.cpp.

bool MotorControllerNode::joint_calibration	(	maggie_motor_controller_msgs::MoveAbsPos::Request &	req,
		maggie_motor_controller_msgs::MoveAbsPos::Response &	resp
	)

Callback to calibrate the joint.

Parameters:

req	Calibration type request.
resp	Calibration type response.

Returns:

true if there are no errors.

Definition at line 354 of file motor_controller_node.cpp.

bool MotorControllerNode::move_abs_pos	(	maggie_motor_controller_msgs::MoveAbsPos::Request &	req,
		maggie_motor_controller_msgs::MoveAbsPos::Response &	resp
	)

Callback to move motors by absolute position.

Parameters:

req	MoveAbsPos type request.
resp	MoveAbsPos type response.

Returns:

true if there are no errors.

Definition at line 308 of file motor_controller_node.cpp.

bool MotorControllerNode::move_rel_pos	(	maggie_motor_controller_msgs::MoveAbsPos::Request &	req,
		maggie_motor_controller_msgs::MoveAbsPos::Response &	resp
	)

Callback to move motors by relative position.

Parameters:

req	MoveAbsPos type request.
resp	MoveAbsPos type response.

Returns:

true if there are no errors.

Definition at line 323 of file motor_controller_node.cpp.

bool MotorControllerNode::move_vel	(	maggie_motor_controller_msgs::MoveAbsPos::Request &	req,
		maggie_motor_controller_msgs::MoveAbsPos::Response &	resp
	)

Callback to move motors in velocity.

Parameters:

req	MoveAbsPos type request.
resp	MoveAbsPos type response.

Returns:

true if there are no errors.

Definition at line 338 of file motor_controller_node.cpp.

void MotorControllerNode::publish

(

)

Publish information from the motors.

Definition at line 171 of file motor_controller_node.cpp.

bool MotorControllerNode::set_cur_lim	(	maggie_motor_controller_msgs::Configuration::Request &	req,
		maggie_motor_controller_msgs::Configuration::Response &	resp
	)

Callback to set the current limit of the motor.

Parameters:

req	Configuration type request.
resp	Configuration type response.

Returns:

true if there are no errors.

Definition at line 296 of file motor_controller_node.cpp.

bool MotorControllerNode::set_max_acc	(	maggie_motor_controller_msgs::Configuration::Request &	req,
		maggie_motor_controller_msgs::Configuration::Response &	resp
	)

Callback to set the maximum acceleration of the motor.

Parameters:

req	Configuration type request.
resp	Configuration type response.

Returns:

true if there are no errors.

Definition at line 270 of file motor_controller_node.cpp.

bool MotorControllerNode::set_max_dec	(	maggie_motor_controller_msgs::Configuration::Request &	req,
		maggie_motor_controller_msgs::Configuration::Response &	resp
	)

Callback to set the maximum deceleration of the motor.

Parameters:

req	Configuration type request.
resp	Configuration type response.

Returns:

true if there are no errors.

Definition at line 283 of file motor_controller_node.cpp.

bool MotorControllerNode::set_max_pos	(	maggie_motor_controller_msgs::Configuration::Request &	req,
		maggie_motor_controller_msgs::Configuration::Response &	resp
	)

Callback to set the maximum position of the motor.

Parameters:

req	Configuration type request.
resp	Configuration type response.

Returns:

true if there are no errors.

Definition at line 230 of file motor_controller_node.cpp.

bool MotorControllerNode::set_max_vel	(	maggie_motor_controller_msgs::Configuration::Request &	req,
		maggie_motor_controller_msgs::Configuration::Response &	resp
	)

Callback to set the maximum velocity of the motor.

Parameters:

req	Configuration type request.
resp	Configuration type response.

Returns:

true if there are no errors.

Definition at line 257 of file motor_controller_node.cpp.

bool MotorControllerNode::set_min_pos	(	maggie_motor_controller_msgs::Configuration::Request &	req,
		maggie_motor_controller_msgs::Configuration::Response &	resp
	)

Callback to set the minimum position of the motor.

Parameters:

req	Configuration type request.
resp	Configuration type response.

Returns:

true if there are no errors.

Definition at line 244 of file motor_controller_node.cpp.

void MotorControllerNode::spin

(

)

Spin the node.

Definition at line 158 of file motor_controller_node.cpp.

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Member Data Documentation

float MotorControllerNode::_calibration_home [private]

Definition at line 197 of file motor_controller_node.h.

ros::ServiceServer MotorControllerNode::_calibration_srv [private]

Definition at line 187 of file motor_controller_node.h.

ros::ServiceServer MotorControllerNode::_cur_lim_srv [private]

Definition at line 182 of file motor_controller_node.h.

ros::Publisher MotorControllerNode::_data_msg [private]

Definition at line 173 of file motor_controller_node.h.

MotorDriverInterface* MotorControllerNode::_driver [private]

Definition at line 199 of file motor_controller_node.h.

int MotorControllerNode::_joint_id [private]

Definition at line 193 of file motor_controller_node.h.

std::string MotorControllerNode::_joint_name [private]

Definition at line 194 of file motor_controller_node.h.

ros::ServiceServer MotorControllerNode::_max_acc_srv [private]

Definition at line 180 of file motor_controller_node.h.

ros::ServiceServer MotorControllerNode::_max_dec_srv [private]

Definition at line 181 of file motor_controller_node.h.

ros::ServiceServer MotorControllerNode::_max_pos_srv [private]

Definition at line 177 of file motor_controller_node.h.

ros::ServiceServer MotorControllerNode::_max_vel_srv [private]

Definition at line 179 of file motor_controller_node.h.

ros::ServiceServer MotorControllerNode::_min_pos_srv [private]

Definition at line 178 of file motor_controller_node.h.

ros::ServiceServer MotorControllerNode::_mov_abs_pos_srv [private]

Definition at line 184 of file motor_controller_node.h.

ros::ServiceServer MotorControllerNode::_mov_rel_pos_srv [private]

Definition at line 185 of file motor_controller_node.h.

ros::ServiceServer MotorControllerNode::_mov_vel_srv [private]

Definition at line 186 of file motor_controller_node.h.

ros::NodeHandle MotorControllerNode::_nh [private]

Definition at line 169 of file motor_controller_node.h.

ros::NodeHandle MotorControllerNode::_nh_private [private]

Definition at line 170 of file motor_controller_node.h.

ros::Publisher MotorControllerNode::_odo_msg [private]

Definition at line 174 of file motor_controller_node.h.

ros::ServiceServer MotorControllerNode::_odo_srv [private]

Definition at line 183 of file motor_controller_node.h.

int MotorControllerNode::_pos_factor [private]

Definition at line 196 of file motor_controller_node.h.

ros::Rate MotorControllerNode::_publish_rate [private]

Definition at line 190 of file motor_controller_node.h.

std::string MotorControllerNode::_serial_device [private]

Definition at line 194 of file motor_controller_node.h.

int MotorControllerNode::_vel_factor [private]

Definition at line 196 of file motor_controller_node.h.

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

• motor_controller_node.h
• motor_controller_node.cpp