Public Member Functions | Protected Member Functions | Protected Attributes | Static Protected Attributes
shadow_robot::MotorTest Class Reference

#include <motor_test.hpp>

List of all members.

Public Member Functions

 MotorTest (self_test::TestRunner *test_runner, std::string joint_name, shadowrobot::HandCommander *hand_commander)
void run_test (diagnostic_updater::DiagnosticStatusWrapper &status)
virtual ~MotorTest ()

Protected Member Functions

void diagnostics_agg_cb_ (const diagnostic_msgs::DiagnosticArray::ConstPtr &msg)

Protected Attributes

ros::Subscriber diagnostic_sub_
ros::Publisher effort_pub_
shadowrobot::HandCommanderhand_commander_
std::string joint_name_
ros::NodeHandle nh_
double PWM_target_
short record_data_
 0 if not recording, 1 if going +, -1 if going -
bool test_current_moving_
bool test_current_zero_
self_test::TestRunnertest_runner_
bool test_strain_gauge_left_
bool test_strain_gauge_right_

Static Protected Attributes

static const double STANDARD_PWM_TARGET_ = 150.0
static const int STRAIN_GAUGE_THRESHOLD_ = 40
static const double WRJ1_PWM_TARGET_ = 250.0
static const double WRJ2_PWM_TARGET_ = 190.0

Detailed Description

Definition at line 37 of file motor_test.hpp.


Constructor & Destructor Documentation

shadow_robot::MotorTest::MotorTest ( self_test::TestRunner test_runner,
std::string  joint_name,
shadowrobot::HandCommander hand_commander 
)

Definition at line 45 of file motor_test.cpp.

virtual shadow_robot::MotorTest::~MotorTest ( ) [inline, virtual]

Definition at line 43 of file motor_test.hpp.


Member Function Documentation

void shadow_robot::MotorTest::diagnostics_agg_cb_ ( const diagnostic_msgs::DiagnosticArray::ConstPtr &  msg) [protected]

Susbscribed to the diagnostics_agg topic.

Parameters:
msgnew incoming msg

Definition at line 232 of file motor_test.cpp.

Definition at line 64 of file motor_test.cpp.


Member Data Documentation

Definition at line 53 of file motor_test.hpp.

Definition at line 52 of file motor_test.hpp.

Definition at line 51 of file motor_test.hpp.

std::string shadow_robot::MotorTest::joint_name_ [protected]

Definition at line 50 of file motor_test.hpp.

Definition at line 48 of file motor_test.hpp.

Definition at line 54 of file motor_test.hpp.

0 if not recording, 1 if going +, -1 if going -

Definition at line 56 of file motor_test.hpp.

const double shadow_robot::MotorTest::STANDARD_PWM_TARGET_ = 150.0 [static, protected]

Definition at line 63 of file motor_test.hpp.

const int shadow_robot::MotorTest::STRAIN_GAUGE_THRESHOLD_ = 40 [static, protected]

Definition at line 66 of file motor_test.hpp.

Definition at line 59 of file motor_test.hpp.

Definition at line 58 of file motor_test.hpp.

Definition at line 49 of file motor_test.hpp.

Definition at line 61 of file motor_test.hpp.

Definition at line 60 of file motor_test.hpp.

const double shadow_robot::MotorTest::WRJ1_PWM_TARGET_ = 250.0 [static, protected]

Definition at line 64 of file motor_test.hpp.

const double shadow_robot::MotorTest::WRJ2_PWM_TARGET_ = 190.0 [static, protected]

Definition at line 65 of file motor_test.hpp.


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


sr_self_test
Author(s): Ugo Cupcic
autogenerated on Fri Aug 28 2015 13:09:38