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::HandCommander *	hand_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::TestRunner *	test_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

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Detailed Description

Definition at line 37 of file motor_test.hpp.

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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.

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Member Function Documentation

void shadow_robot::MotorTest::diagnostics_agg_cb_

(

const diagnostic_msgs::DiagnosticArray::ConstPtr &

msg

)

[protected]

Susbscribed to the diagnostics_agg topic.

Parameters:

msg	new incoming msg

Definition at line 232 of file motor_test.cpp.

void shadow_robot::MotorTest::run_test

(

diagnostic_updater::DiagnosticStatusWrapper &

status

)

Definition at line 64 of file motor_test.cpp.

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Member Data Documentation

ros::Subscriber shadow_robot::MotorTest::diagnostic_sub_ [protected]

Definition at line 53 of file motor_test.hpp.

ros::Publisher shadow_robot::MotorTest::effort_pub_ [protected]

Definition at line 52 of file motor_test.hpp.

shadowrobot::HandCommander* shadow_robot::MotorTest::hand_commander_ [protected]

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.

ros::NodeHandle shadow_robot::MotorTest::nh_ [protected]

Definition at line 48 of file motor_test.hpp.

double shadow_robot::MotorTest::PWM_target_ [protected]

Definition at line 54 of file motor_test.hpp.

short shadow_robot::MotorTest::record_data_ [protected]

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.

bool shadow_robot::MotorTest::test_current_moving_ [protected]

Definition at line 59 of file motor_test.hpp.

bool shadow_robot::MotorTest::test_current_zero_ [protected]

Definition at line 58 of file motor_test.hpp.

self_test::TestRunner* shadow_robot::MotorTest::test_runner_ [protected]

Definition at line 49 of file motor_test.hpp.

bool shadow_robot::MotorTest::test_strain_gauge_left_ [protected]

Definition at line 61 of file motor_test.hpp.

bool shadow_robot::MotorTest::test_strain_gauge_right_ [protected]

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.

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

• motor_test.hpp
• motor_test.cpp