IMDRIVER Class Reference

#include <evarobot_driver.h>

List of all members.

Public Member Functions
void	ApplyVel (float f_left_wheel_velocity, float f_right_wheel_velocity)
void	CallbackWheelVel (const im_msgs::WheelVel::ConstPtr &msg)
int	CheckError ()
bool	CheckMotorCurrent ()
bool	CheckTimeout ()
void	Disable ()
void	Enable ()
im_msgs::Voltage	GetMotorVoltage () const
	IMDRIVER (double d_limit_voltage, float f_max_lin_vel, float f_max_ang_vel, float f_wheel_separation, float f_wheel_diameter, double d_frequency, unsigned int u_i_counts, double d_duty, int i_mode, boost::shared_ptr< IMGPIO > *m1_in, boost::shared_ptr< IMGPIO > *m2_in, IMGPIO *m1_en, IMGPIO *m2_en, IMADC *adc, ros::ServiceClient &client, double _timeout)
void	ProduceDiagnostics (diagnostic_updater::DiagnosticStatusWrapper &stat)
void	UpdateParams ()
	~IMDRIVER ()
Private Attributes
IMADC *	adc
bool	b_left_motor_error
bool	b_motor_error
bool	b_right_motor_error
bool	b_timeout_err
ros::ServiceClient	client
ros::Time	curr_vel_time
double	d_duty
double	d_frequency
double	d_limit_voltage
double	d_timeout
float	f_left_motor_voltage
float	f_max_ang_vel
float	f_max_lin_vel
float	f_right_motor_voltage
float	f_wheel_diameter
float	f_wheel_separation
int	i_const_count
int	i_mode
IMGPIO *	m1_en
boost::shared_ptr< IMGPIO > *	m1_in
IMGPIO *	m2_en
boost::shared_ptr< IMGPIO > *	m2_in
IMPWM *	pwm
unsigned int	u_i_counts

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Detailed Description

Definition at line 41 of file evarobot_driver.h.

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Constructor & Destructor Documentation

IMDRIVER::IMDRIVER	(	double	d_limit_voltage,
		float	f_max_lin_vel,
		float	f_max_ang_vel,
		float	f_wheel_separation,
		float	f_wheel_diameter,
		double	d_frequency,
		unsigned int	u_i_counts,
		double	d_duty,
		int	i_mode,
		boost::shared_ptr< IMGPIO > *	m1_in,
		boost::shared_ptr< IMGPIO > *	m2_in,
		IMGPIO *	m1_en,
		IMGPIO *	m2_en,
		IMADC *	adc,
		ros::ServiceClient &	client,
		double	_timeout
	)

Definition at line 12 of file evarobot_driver.cpp.

IMDRIVER::~IMDRIVER

(

)

Definition at line 70 of file evarobot_driver.cpp.

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Member Function Documentation

void IMDRIVER::ApplyVel	(	float	f_left_wheel_velocity,
		float	f_right_wheel_velocity
	)

Definition at line 113 of file evarobot_driver.cpp.

void IMDRIVER::CallbackWheelVel

(

const im_msgs::WheelVel::ConstPtr &

msg

)

Definition at line 339 of file evarobot_driver.cpp.

int IMDRIVER::CheckError

(

)

Definition at line 196 of file evarobot_driver.cpp.

bool IMDRIVER::CheckMotorCurrent

(

)

Definition at line 228 of file evarobot_driver.cpp.

bool IMDRIVER::CheckTimeout

(

)

Definition at line 311 of file evarobot_driver.cpp.

void IMDRIVER::Disable

(

)

Definition at line 186 of file evarobot_driver.cpp.

void IMDRIVER::Enable

(

)

Definition at line 174 of file evarobot_driver.cpp.

im_msgs::Voltage IMDRIVER::GetMotorVoltage

(

)

const

Definition at line 219 of file evarobot_driver.cpp.

void IMDRIVER::ProduceDiagnostics

(

diagnostic_updater::DiagnosticStatusWrapper &

stat

)

Definition at line 295 of file evarobot_driver.cpp.

void IMDRIVER::UpdateParams

(

)

Definition at line 96 of file evarobot_driver.cpp.

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Member Data Documentation

IMADC* IMDRIVER::adc [private]

Definition at line 84 of file evarobot_driver.h.

bool IMDRIVER::b_left_motor_error [private]

Definition at line 101 of file evarobot_driver.h.

bool IMDRIVER::b_motor_error [private]

Definition at line 101 of file evarobot_driver.h.

bool IMDRIVER::b_right_motor_error [private]

Definition at line 101 of file evarobot_driver.h.

bool IMDRIVER::b_timeout_err [private]

Definition at line 102 of file evarobot_driver.h.

ros::ServiceClient IMDRIVER::client [private]

Definition at line 85 of file evarobot_driver.h.

ros::Time IMDRIVER::curr_vel_time [private]

Definition at line 108 of file evarobot_driver.h.

double IMDRIVER::d_duty [private]

Definition at line 96 of file evarobot_driver.h.

double IMDRIVER::d_frequency [private]

Definition at line 95 of file evarobot_driver.h.

double IMDRIVER::d_limit_voltage [private]

Definition at line 97 of file evarobot_driver.h.

double IMDRIVER::d_timeout [private]

Definition at line 99 of file evarobot_driver.h.

float IMDRIVER::f_left_motor_voltage [private]

Definition at line 92 of file evarobot_driver.h.

float IMDRIVER::f_max_ang_vel [private]

Definition at line 88 of file evarobot_driver.h.

float IMDRIVER::f_max_lin_vel [private]

Definition at line 87 of file evarobot_driver.h.

float IMDRIVER::f_right_motor_voltage [private]

Definition at line 93 of file evarobot_driver.h.

float IMDRIVER::f_wheel_diameter [private]

Definition at line 90 of file evarobot_driver.h.

float IMDRIVER::f_wheel_separation [private]

Definition at line 89 of file evarobot_driver.h.

int IMDRIVER::i_const_count [private]

Definition at line 106 of file evarobot_driver.h.

int IMDRIVER::i_mode [private]

Definition at line 105 of file evarobot_driver.h.

IMGPIO* IMDRIVER::m1_en [private]

Definition at line 81 of file evarobot_driver.h.

boost::shared_ptr< IMGPIO >* IMDRIVER::m1_in [private]

Definition at line 79 of file evarobot_driver.h.

IMGPIO* IMDRIVER::m2_en [private]

Definition at line 82 of file evarobot_driver.h.

boost::shared_ptr< IMGPIO >* IMDRIVER::m2_in [private]

Definition at line 80 of file evarobot_driver.h.

IMPWM* IMDRIVER::pwm [private]

Definition at line 78 of file evarobot_driver.h.

unsigned int IMDRIVER::u_i_counts [private]

Definition at line 104 of file evarobot_driver.h.

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

• evarobot_driver.h
• evarobot_driver.cpp