#include <sr_motor_hand_lib.hpp>
Public Member Functions | |
| bool | force_pid_callback (sr_robot_msgs::ForceController::Request &request, sr_robot_msgs::ForceController::Response &response, int motor_index) |
| bool | reset_motor_callback (std_srvs::Empty::Request &request, std_srvs::Empty::Response &response, std::pair< int, std::string > joint) |
| SrMotorHandLib (hardware_interface::HardwareInterface *hw, ros::NodeHandle nh, ros::NodeHandle nhtilde, std::string device_id, std::string joint_prefix) | |
Protected Member Functions | |
| std::string | find_joint_name (int motor_index) |
| virtual void | initialize (std::vector< std::string > joint_names, std::vector< int > actuator_ids, std::vector< shadow_joints::JointToSensor > joint_to_sensors) |
| void | update_force_control_in_param_server (std::string joint_name, int max_pwm, int sg_left, int sg_right, int f, int p, int i, int d, int imax, int deadband, int sign) |
Private Member Functions | |
| std::vector< int > | read_joint_to_motor_mapping () |
| void | resend_pids (std::string joint_name, int motor_index) |
Private Attributes | |
| std::map< std::string, ros::Timer > | pid_timers |
Static Private Attributes | |
| static const char * | human_readable_motor_data_types [] |
| static const int32u | motor_data_types [] |
| static const int | nb_motor_data = 14 |
Detailed Description
template<class StatusType, class CommandType>
class shadow_robot::SrMotorHandLib< StatusType, CommandType >
Definition at line 45 of file sr_motor_hand_lib.hpp.
Constructor & Destructor Documentation
| shadow_robot::SrMotorHandLib< StatusType, CommandType >::SrMotorHandLib | ( | hardware_interface::HardwareInterface * | hw, |
| ros::NodeHandle | nh, | ||
| ros::NodeHandle | nhtilde, | ||
| std::string | device_id, | ||
| std::string | joint_prefix | ||
| ) |
Definition at line 92 of file sr_motor_hand_lib.cpp.
Member Function Documentation
| string shadow_robot::SrMotorHandLib< StatusType, CommandType >::find_joint_name | ( | int | motor_index | ) | [protected] |
Finds the joint name for a certain motor index
- Parameters:
-
motor_index The integer motor index
Definition at line 407 of file sr_motor_hand_lib.cpp.
| bool shadow_robot::SrMotorHandLib< StatusType, CommandType >::force_pid_callback | ( | sr_robot_msgs::ForceController::Request & | request, |
| sr_robot_msgs::ForceController::Response & | response, | ||
| int | motor_index | ||
| ) |
The service callback for setting the Force PID values. There's only one callback function, but it can called for any motors. We know which motor called the service thanks to the motor_index.
- Parameters:
-
request The request contains the new parameters for the controllers. response True if succeeded. motor_index The index of the motor for which the service has been called.
- Returns:
- true if succeeded.
Definition at line 296 of file sr_motor_hand_lib.cpp.
| void shadow_robot::SrMotorHandLib< StatusType, CommandType >::initialize | ( | std::vector< std::string > | joint_names, |
| std::vector< int > | actuator_ids, | ||
| std::vector< shadow_joints::JointToSensor > | joint_to_sensors | ||
| ) | [protected, virtual] |
Initializes the hand library with the needed values.
- Parameters:
-
joint_names A vector containing all the joint names. actuator_ids A vector containing the corresponding actuator ids. joint_to_sensors A vector mapping the joint to the sensor index we read from the palm.
Implements shadow_robot::SrMotorRobotLib< StatusType, CommandType >.
Definition at line 126 of file sr_motor_hand_lib.cpp.
| vector< int > shadow_robot::SrMotorHandLib< StatusType, CommandType >::read_joint_to_motor_mapping | ( | ) | [private] |
Reads the mapping associating a joint to a motor. If the motor index is -1, then no motor is associated to this joint.
- Returns:
- a vector of motor indexes, ordered by joint.
Definition at line 467 of file sr_motor_hand_lib.cpp.
| void shadow_robot::SrMotorHandLib< StatusType, CommandType >::resend_pids | ( | std::string | joint_name, |
| int | motor_index | ||
| ) | [private] |
Read the motor board force pids from the parameter servers, called when resetting the motor.
- Parameters:
-
joint_name the joint we want to reset motor_index the index of the motor for this joint
Definition at line 218 of file sr_motor_hand_lib.cpp.
| bool shadow_robot::SrMotorHandLib< StatusType, CommandType >::reset_motor_callback | ( | std_srvs::Empty::Request & | request, |
| std_srvs::Empty::Response & | response, | ||
| std::pair< int, std::string > | joint | ||
| ) |
Reset the motor at motor index.
- Parameters:
-
request empty response empty joint A pair containing the index of the motor for the given joint followed by the name of the joint we're resetting
- Returns:
- true if success
Definition at line 198 of file sr_motor_hand_lib.cpp.
| void shadow_robot::SrMotorHandLib< StatusType, CommandType >::update_force_control_in_param_server | ( | std::string | joint_name, |
| int | max_pwm, | ||
| int | sg_left, | ||
| int | sg_right, | ||
| int | f, | ||
| int | p, | ||
| int | i, | ||
| int | d, | ||
| int | imax, | ||
| int | deadband, | ||
| int | sign | ||
| ) | [protected] |
Updates the parameter values for the force control in the Parameter Server
- Parameters:
-
joint_name The name of the joint. max_pwm The max pwm the motor will apply sg_left Strain gauge left sg_right Strain gauge right f The feedforward term (directly adds f*error to the output of the PID) p The p value. i the i value. d the d value. imax the imax value. deadband the deadband on the force. sign can be 0 or 1 depending on the way the motor is plugged in.
Definition at line 423 of file sr_motor_hand_lib.cpp.
Member Data Documentation
const char * shadow_robot::SrMotorHandLib< StatusType, CommandType >::human_readable_motor_data_types [static, private] |
{"sgl", "sgr",
"pwm", "flags",
"current",
"voltage",
"temperature",
"can_num_received",
"can_num_transmitted",
"slow_data",
"can_error_counters",
"pterm",
"iterm",
"dterm"}
Definition at line 145 of file sr_motor_hand_lib.hpp.
const int32u shadow_robot::SrMotorHandLib< StatusType, CommandType >::motor_data_types [static, private] |
{MOTOR_DATA_SGL,
MOTOR_DATA_SGR,
MOTOR_DATA_PWM,
MOTOR_DATA_FLAGS,
MOTOR_DATA_CURRENT,
MOTOR_DATA_VOLTAGE,
MOTOR_DATA_TEMPERATURE,
MOTOR_DATA_CAN_NUM_RECEIVED,
MOTOR_DATA_CAN_NUM_TRANSMITTED,
MOTOR_DATA_SLOW_MISC,
MOTOR_DATA_CAN_ERROR_COUNTERS,
MOTOR_DATA_PTERM,
MOTOR_DATA_ITERM,
MOTOR_DATA_DTERM}
Definition at line 146 of file sr_motor_hand_lib.hpp.
const int shadow_robot::SrMotorHandLib< StatusType, CommandType >::nb_motor_data = 14 [static, private] |
Definition at line 144 of file sr_motor_hand_lib.hpp.
std::map<std::string, ros::Timer> shadow_robot::SrMotorHandLib< StatusType, CommandType >::pid_timers [private] |
A map used to keep the timers created in reset_motor_callback alive. We're using a map to keep only one timer per joint.
Definition at line 161 of file sr_motor_hand_lib.hpp.
The documentation for this class was generated from the following files: