Class MotorBase

Defined in File base.hpp

Inheritance Relationships

Derived Type

public ros2_canopen::Motor402 (Class Motor402)

Class Documentation

class MotorBase

Motor Base Class.

Subclassed by ros2_canopen::Motor402

Public Types

enum OperationMode

Values:

enumerator No_Mode

enumerator Profiled_Position

enumerator Velocity

enumerator Profiled_Velocity

enumerator Profiled_Torque

enumerator Reserved

enumerator Homing

enumerator Interpolated_Position

enumerator Cyclic_Synchronous_Position

enumerator Cyclic_Synchronous_Velocity

enumerator Cyclic_Synchronous_Torque

typedef std::shared_ptr<MotorBase> MotorBaseSharedPtr

Public Functions

virtual bool setTarget(double val) = 0

Set target.

Parameters:: val – [in] Target value
Returns:: true
Returns:: false

virtual bool enterModeAndWait(uint16_t mode) = 0

Enter Operation Mode.

Parameters:: mode – [in] Target Mode
Returns:: true
Returns:: false

virtual bool isModeSupported(uint16_t mode) = 0

Check if Operation Mode is supported.

Parameters:: mode – [in] Operation Mode to be checked
Returns:: true
Returns:: false

virtual uint16_t getMode() = 0

Get current Mode.

Returns:: uint16_t

inline virtual void registerDefaultModes(): Register default Operation Modes.

Protected Functions

inline MotorBase()