Go to the documentation of this file.00001 # Package Summary
00002
00003 This is a ROS package for communicating with one or more Muse Brushless Modules.
00004
00005 # Node
00006 ## Published Topics
00007 * muse_bldc_motor_drive/module_discovery (muse_bldc_motor_drive/module_list.msg)
00008
00009 Provides a *list* with all active Muse Modules, that are visible through current network and the *number* of them.
00010 The *list* provides some information for each module: module name, module ip, module status.
00011
00012 * <feedback_topic_name> (muse_bldc_motor_drive/feedback.msg)
00013
00014 Provides the *name* of current Muse Module and also, feedback - *current [A]*, *speed [krpm]*, *position [revs]*, *bus voltage [V]*, *temperature [C]* - possible *erros/faults*, *control mode* and *fsm state*.
00015
00016 ## Subscribed Topics
00017 * muse_bldc_motor_drive/communication (muse_bldc_motor_drive/communication_cmd.msg)
00018
00019 A command to open or close the topics needed for communication with a single Muse Module. You have to set the ip or name of desired Module and you choose the names of topics needed to send commands and get feedback from it. You can get Module's name or ip from *muse_bldc_motor_drive/communication* publisher and see if it's connected to the network.
00020
00021 * <control_commands_topic_name> (muse_bldc_motor_drive/control_cmd.msg)
00022
00023 An interface to send control commands to Muse Module. Commands provided:
00024 * SET_CONTROL_LIMITS
00025 * SET_CURRENT_GAINS
00026 * SET_SPEED_GAINS
00027 * SET_POSITION_GAINS
00028 * SET_CURRENT
00029 * SET_SPEED
00030 * SET_POSITION
00031
00032 * <state_machine_commands_topic_name> (muse_bldc_motor_drive/state_machine_cmd.msg)
00033
00034 An interface to send state machine commands to Muse Module. Commands provided:
00035 * CONNECT
00036 * DISCONNECT
00037 * STARTUP
00038 * SHUTDOWN
00039 * ENABLE_SERVO
00040 * DISABLE_SERVO
00041 * CONTROL_ON
00042 * CONTROL_OFF
00043 * QUICK_ENABLE
00044 * CALIBRATE_ELEC_ANGLE_OFFSET
00045 * CALIBRATE_START
00046 * SET_NAME
00047 * CLEAR_FAULTS
00048 * CLEAR_ERRORS
00049
00050 ## Parameters
00051 * control frequency(float64, default: 1000.0)
00052
00053 This is the frequency that muse_bldc_motor_drive Node can handle sent commands.
00054
00055 * feedback frequency(float64, default: 1000.0)
00056
00057 This is the frequency of published feedback from muse_bldc_motor_drive Node.