CanDriveItf Class Reference

#include <CanDriveItf.h>

Inheritance diagram for CanDriveItf:

List of all members.

Public Types
enum	MotionType { MOTIONTYPE_VELCTRL, MOTIONTYPE_TORQUECTRL, MOTIONTYPE_POSCTRL }
Public Member Functions
virtual bool	disableBrake (bool bDisabled)=0
virtual bool	evalReceivedMsg (CanMsg &msg)=0
virtual bool	evalReceivedMsg ()=0
virtual bool	execHoming ()=0
virtual unsigned int	getError ()=0
virtual void	getGearDeltaPosVelRadS (double *pdDeltaAngleGearRad, double *pdVelGearRadS)=0
virtual void	getGearPosRad (double *pdPosGearRad)=0
virtual void	getGearPosVelRadS (double *pdAngleGearRad, double *pdVelGearRadS)=0
virtual void	getMotorTorque (double *dTorqueNm)=0
virtual void	getStatus (int *piStatus, int *piTempCel)=0
virtual bool	getStatusLimitSwitch ()=0
virtual double	getTimeToLastMsg ()=0
virtual bool	init ()=0
virtual bool	initHoming ()=0
virtual void	IntprtSetInt (int iDataLen, char cCmdChar1, char cCmdChar2, int iIndex, int iData)=0
virtual bool	isError ()=0
virtual bool	isInitialized ()=0
virtual void	requestMotorTorque ()=0
virtual void	requestPosVel ()=0
virtual void	requestStatus ()=0
virtual bool	reset ()=0
virtual bool	resetEMStop ()=0
virtual void	setCanItf (CanItf *pCanItf)=0
virtual void	setDriveParam (DriveParam driveParam)=0
virtual bool	setEMStop ()=0
virtual void	setGearPosVelRadS (double dPosRad, double dVelRadS)=0
virtual void	setGearVelRadS (double dVelRadS)=0
virtual void	setMotorTorque (double dTorqueNm)=0
virtual int	setRecorder (int iFlag, int iParam=0, std::string sParam="/home/MyLog")=0
virtual bool	setTypeMotion (int iType)=0
virtual bool	shutdown ()=0
virtual bool	start ()=0
virtual bool	startWatchdog (bool bStarted)=0
virtual bool	stop ()=0

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Detailed Description

Interface for a drive.

Definition at line 31 of file CanDriveItf.h.

---

Member Enumeration Documentation

enum CanDriveItf::MotionType

Motion type of the controller.

Enumerator:

MOTIONTYPE_VELCTRL
MOTIONTYPE_TORQUECTRL
MOTIONTYPE_POSCTRL

Definition at line 37 of file CanDriveItf.h.

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Member Function Documentation

virtual bool CanDriveItf::disableBrake

(

bool

bDisabled

)

[pure virtual]

Disables the brake. This function is not implemented for Harmonica, because brakes are released upon power on and shut only at emergency stop.

Implemented in CanDriveHarmonica.

virtual bool CanDriveItf::evalReceivedMsg

(

CanMsg &

msg

)

[pure virtual]

Evals a received message. Only messages with fitting identifiers are evaluated.

Parameters:

msg	message to be evaluated.

Implemented in CanDriveHarmonica.

virtual bool CanDriveItf::evalReceivedMsg

(

)

[pure virtual]

Evals received messages in OBJECT mode. The CAN drives have to implement which identifiers they are interested in.

Returns:

true on success, false on failure.

Implemented in CanDriveHarmonica.

virtual bool CanDriveItf::execHoming

(

)

[pure virtual]

Performs homing procedure. Used only in position mode.

Implemented in CanDriveHarmonica.

virtual unsigned int CanDriveItf::getError

(

)

[pure virtual]

Return a bitfield containing information about the pending errors.

Implemented in CanDriveHarmonica.

virtual void CanDriveItf::getGearDeltaPosVelRadS	(	double *	pdDeltaAngleGearRad,
		double *	pdVelGearRadS
	)		[pure virtual]

Returns the change of the position and the velocity. The given delta position is given since the last call of this function.

Implemented in CanDriveHarmonica.

virtual void CanDriveItf::getGearPosRad

(

double *

pdPosGearRad

)

[pure virtual]

Returns the current position.

Implemented in CanDriveHarmonica.

virtual void CanDriveItf::getGearPosVelRadS	(	double *	pdAngleGearRad,
		double *	pdVelGearRadS
	)		[pure virtual]

Returns the position and the velocity of the drive.

Implemented in CanDriveHarmonica.

virtual void CanDriveItf::getMotorTorque

(

double *

dTorqueNm

)

[pure virtual]

Returns member variable m_MotorCurrent To update this value call requestMotorCurrent before and evaluate CAN buffer, or wait one cycle

Implemented in CanDriveHarmonica.

virtual void CanDriveItf::getStatus	(	int *	piStatus,
		int *	piTempCel
	)		[pure virtual]

Returns the measured temperature.

Implemented in CanDriveHarmonica.

virtual bool CanDriveItf::getStatusLimitSwitch

(

)

[pure virtual]

Returns the status of the limit switch needed for homing. true = limit switch is reached; false = not reached

Implemented in CanDriveHarmonica.

virtual double CanDriveItf::getTimeToLastMsg

(

)

[pure virtual]

Returns the elapsed time since the last received message.

Implemented in CanDriveHarmonica.

virtual bool CanDriveItf::init

(

)

[pure virtual]

Initializes the driver. Call this function once after construction.

Implemented in CanDriveHarmonica.

virtual bool CanDriveItf::initHoming

(

)

[pure virtual]

Inits homing procedure. Used only in position mode.

Implemented in CanDriveHarmonica.

virtual void CanDriveItf::IntprtSetInt	(	int	iDataLen,
		char	cCmdChar1,
		char	cCmdChar2,
		int	iIndex,
		int	iData
	)		[pure virtual]

Sends an integer value to the Harmonica using the built in interpreter. cpc-kischa

Implemented in CanDriveHarmonica.

virtual bool CanDriveItf::isError

(

)

[pure virtual]

Returns true if an error has been detected.

Implemented in CanDriveHarmonica.

virtual bool CanDriveItf::isInitialized

(

)

[pure virtual]

Check if the driver is already initialized. This is necessary if a drive gets switched off during runtime.

Returns:

true if initialization occured already, false if not.

Implemented in CanDriveHarmonica.

virtual void CanDriveItf::requestMotorTorque

(

)

[pure virtual]

Sends Requests for "active current" to motor via CAN

Implemented in CanDriveHarmonica.

virtual void CanDriveItf::requestPosVel

(

)

[pure virtual]

Requests position and velocity.

Implemented in CanDriveHarmonica.

virtual void CanDriveItf::requestStatus

(

)

[pure virtual]

Requests status.

Implemented in CanDriveHarmonica.

virtual bool CanDriveItf::reset

(

)

[pure virtual]

Resets the drive. The drive changes into the state after initializaton.

Implemented in CanDriveHarmonica.

virtual bool CanDriveItf::resetEMStop

(

)

[pure virtual]

Disable the emergency stop.

Implemented in CanDriveHarmonica.

virtual void CanDriveItf::setCanItf

(

CanItf *

pCanItf

)

[pure virtual]

Sets the CAN interface.

Implemented in CanDriveHarmonica.

virtual void CanDriveItf::setDriveParam

(

DriveParam

driveParam

)

[pure virtual]

Sets the drive parameter.

Implemented in CanDriveHarmonica.

virtual bool CanDriveItf::setEMStop

(

)

[pure virtual]

Enable the emergency stop.

Implemented in CanDriveHarmonica.

virtual void CanDriveItf::setGearPosVelRadS	(	double	dPosRad,
		double	dVelRadS
	)		[pure virtual]

Sets required position and veolocity. Use this function only in position mode. By calling the function the status is requested, too.

Implemented in CanDriveHarmonica.

virtual void CanDriveItf::setGearVelRadS

(

double

dVelRadS

)

[pure virtual]

Sets the velocity. By calling the function the status is requested, too.

Implemented in CanDriveHarmonica.

virtual void CanDriveItf::setMotorTorque

(

double

dTorqueNm

)

[pure virtual]

Sends command for motor Torque (in Nm)

Implemented in CanDriveHarmonica.

virtual int CanDriveItf::setRecorder	(	int	iFlag,
		int	iParam = 0,
		std::string	sParam = "/home/MyLog"
	)		[pure virtual]

Provides several functions for drive information recording purposes. By now, only implemented for the Elmo-recorder. cpc-pk

Implemented in CanDriveHarmonica.

virtual bool CanDriveItf::setTypeMotion

(

int

iType

)

[pure virtual]

Sets the motion type drive. The function is not implemented for Harmonica. The harmonica drive is configured just for velocity mode.

Implemented in CanDriveHarmonica.

virtual bool CanDriveItf::shutdown

(

)

[pure virtual]

Shutdowns the motor.

Implemented in CanDriveHarmonica.

virtual bool CanDriveItf::start

(

)

[pure virtual]

Enables the motor. After calling the drive accepts velocity and position commands.

Implemented in CanDriveHarmonica.

virtual bool CanDriveItf::startWatchdog

(

bool

bStarted

)

[pure virtual]

Starts the watchdog. The Harmonica provides watchdog functionality which means the drive stops if the watchdog becomes active. To keep the watchdog inactive a heartbeat message has to be sent periodically. The update rate is set to 1s. The update is is done in function setGearVelRadS().

Implemented in CanDriveHarmonica.

virtual bool CanDriveItf::stop

(

)

[pure virtual]

Disables the motor. After calling the drive won't accepts velocity and position commands.

Implemented in CanDriveHarmonica.

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

• CanDriveItf.h