#include <CanCtrlPltfCOb3.h>
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| | CanCtrlPltfCOb3 (std::string iniDirectory) |
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| int | ElmoRecordings (int iFlag, int iParam, std::string sString) |
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| int | evalCanBuffer () |
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| int | getGearDeltaPosVelRadS (int iCanIdent, double *pdDeltaAngleGearRad, double *pdVelGearRadS) |
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| int | getGearPosVelRadS (int iCanIdent, double *pdAngleGearRad, double *pdVelGearRadS) |
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| void | getMotorTorque (int iCanIdent, double *pdTorqueNm) |
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| void | getStatus (int iCanIdent, int *piStatus, int *piTempCel) |
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| bool | initPltf () |
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| bool | isPltfError () |
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| void | requestDriveStatus () |
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| void | requestMotorTorque () |
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| int | requestMotPosVel (int iCanIdent) |
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| bool | resetPltf () |
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| void | setMotorTorque (int iCanIdent, double dTorqueNm) |
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| int | setVelGearRadS (int iCanIdent, double dVelGearRadS) |
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| bool | shutdownPltf () |
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| bool | startWatchdog (bool bStarted) |
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| | ~CanCtrlPltfCOb3 () |
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Represents all CAN components on an arbitrary canbus.
Definition at line 43 of file CanCtrlPltfCOb3.h.
Specify Cannodes (Identifiers to send velocities to one specific motor) This has to be adapted to the hardware-setup!
| Enumerator |
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| CANNODE_WHEEL1DRIVEMOTOR |
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| CANNODE_WHEEL1STEERMOTOR |
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| CANNODE_WHEEL2DRIVEMOTOR |
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| CANNODE_WHEEL2STEERMOTOR |
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| CANNODE_WHEEL3DRIVEMOTOR |
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| CANNODE_WHEEL3STEERMOTOR |
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| CANNODE_WHEEL4DRIVEMOTOR |
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| CANNODE_WHEEL4STEERMOTOR |
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Definition at line 66 of file CanCtrlPltfCOb3.h.
| CanCtrlPltfCOb3::CanCtrlPltfCOb3 |
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std::string |
iniDirectory | ) |
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| CanCtrlPltfCOb3::~CanCtrlPltfCOb3 |
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| ) |
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| int CanCtrlPltfCOb3::ElmoRecordings |
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int |
iFlag, |
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int |
iParam, |
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std::string |
sString |
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) |
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Provides several functions for drive information recording purposes using the built in ElmoRecorder, which allows to record drive information at a high frequency.
- Parameters
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| iFlag | To keep the interface slight, use iParam to command the recorder: 0: Configure the Recorder to record the sources Main Speed(1), Main position(2), Active current(10), Speed command(16). With iParam = iRecordingGap you specify every which time quantum (4*90usec) a new data point (of 1024 points in total) is recorded; 1: Query Upload of recorded source (1=Main Speed, 2=Main position, 10=Active Current, 16=Speed command) with iParam and log data to file sParam = file prefix. Filename is extended with _MotorNumber_RecordedSource.log 99: Abort and clear current SDO readout process 100: Request status of readout. Gives back 0 if all transmissions have finished and no CAN polling is needed anymore. |
- Returns
- -1: Unknown flag set; 0: Success; 1: Recorder hasn't been configured yet; 2: data collection still in progress
Definition at line 1456 of file CanCtrlPltfCOb3.cpp.
| int CanCtrlPltfCOb3::evalCanBuffer |
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| ) |
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| int CanCtrlPltfCOb3::getGearDeltaPosVelRadS |
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int |
iCanIdent, |
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double * |
pdDeltaAngleGearRad, |
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double * |
pdVelGearRadS |
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) |
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Gets the delta joint-angle since the last call and the velocity.
- Parameters
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| iCanIdent | choose a can node |
| pdDeltaAngleGearRad | delta joint-position since the last call in radian |
| pdVelGearRadS | joint-velocity in radian per second |
Definition at line 1368 of file CanCtrlPltfCOb3.cpp.
| int CanCtrlPltfCOb3::getGearPosVelRadS |
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int |
iCanIdent, |
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double * |
pdAngleGearRad, |
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double * |
pdVelGearRadS |
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) |
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Gets the position and velocity.
- Parameters
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| iCanIdent | choose a can node |
| pdAngleGearRad | joint-position in radian |
| pdVelGearRadS | joint-velocity in radian per second |
Definition at line 1348 of file CanCtrlPltfCOb3.cpp.
| void CanCtrlPltfCOb3::getMotorTorque |
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int |
iCanIdent, |
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double * |
pdTorqueNm |
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) |
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Gets the motor torque (calculated from motor active current).
- Parameters
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| iCanIdent | choose a can node |
| pdTorqueNm | motor-torque in Newtonmeter |
Definition at line 1419 of file CanCtrlPltfCOb3.cpp.
| void CanCtrlPltfCOb3::getStatus |
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int |
iCanIdent, |
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int * |
piStatus, |
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int * |
piTempCel |
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) |
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| bool CanCtrlPltfCOb3::initPltf |
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| ) |
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Initializes all CAN nodes of the platfrom and performs homing procedure. !! The homing routine is hardware-dependent (steering and driving is coupled) !! !! If you use this code on other hardware -> make sure te remove or adapt homing sequence !!
Definition at line 893 of file CanCtrlPltfCOb3.cpp.
| bool CanCtrlPltfCOb3::isPltfError |
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| ) |
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Signs an error of the platform.
- Returns
- true if there is an error.
Definition at line 1204 of file CanCtrlPltfCOb3.cpp.
| void CanCtrlPltfCOb3::readConfiguration |
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| ) |
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protected |
| void CanCtrlPltfCOb3::requestDriveStatus |
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Requests the status of the drive. Status-Msg includes whether motor is in error-state (with source, e.g. undercurrent, overheated) or operational (enabled/disabled, at its limits, ...)
Definition at line 1335 of file CanCtrlPltfCOb3.cpp.
| void CanCtrlPltfCOb3::requestMotorTorque |
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Requests motor-torque (in fact active current) of the drive.
- Parameters
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| iCanIdent | choose a can node |
Definition at line 1406 of file CanCtrlPltfCOb3.cpp.
| int CanCtrlPltfCOb3::requestMotPosVel |
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int |
iCanIdent | ) |
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Requests position and velocity of the drive. (This is not implemented for CanDriveHarmonica. sending an Velocity command to an ELMO Harmonica-Ctrl triggers a aswer transmitting the current velocity)
- Parameters
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| iCanIdent | choose a can node |
Definition at line 1316 of file CanCtrlPltfCOb3.cpp.
| bool CanCtrlPltfCOb3::resetPltf |
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| ) |
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Reinitializes the nodes on the bus. The function might be neccessary after an emergency stop or an hardware failure to reinit drives.
Definition at line 1169 of file CanCtrlPltfCOb3.cpp.
| void CanCtrlPltfCOb3::sendNetStartCanOpen |
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protected |
| void CanCtrlPltfCOb3::setMotorTorque |
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int |
iCanIdent, |
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double |
dTorqueNm |
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) |
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Sends torques to the can node. Status is requested, too.
- Parameters
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| iCanIdent | choose a can node |
| dTorqueNM | motor-torque in Newtonmeter |
Definition at line 1435 of file CanCtrlPltfCOb3.cpp.
| int CanCtrlPltfCOb3::setVelGearRadS |
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int |
iCanIdent, |
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double |
dVelGearRadS |
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) |
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Sends veolocities to the can node. Status is requested, too.
- Parameters
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| iCanIdent | choose a can node |
| dVelGearRadS | joint-velocity in radian per second |
Definition at line 1289 of file CanCtrlPltfCOb3.cpp.
| bool CanCtrlPltfCOb3::shutdownPltf |
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| ) |
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Shutdown of the platform. Disables motors, enables brake and disconnects.
Definition at line 1192 of file CanCtrlPltfCOb3.cpp.
| bool CanCtrlPltfCOb3::startWatchdog |
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bool |
bStarted | ) |
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| bool CanCtrlPltfCOb3::m_bWatchdogErr |
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protected |
| CanMsg CanCtrlPltfCOb3::m_CanMsgRec |
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protected |
| int CanCtrlPltfCOb3::m_iNumDrives |
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protected |
| int CanCtrlPltfCOb3::m_iNumMotors |
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protected |
| Mutex CanCtrlPltfCOb3::m_Mutex |
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protected |
| CanItf* CanCtrlPltfCOb3::m_pCanCtrl |
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protected |
| std::vector<int> CanCtrlPltfCOb3::m_viMotorID |
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protected |
| std::string CanCtrlPltfCOb3::sComposed |
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protected |
| std::string CanCtrlPltfCOb3::sIniDirectory |
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protected |
Reads configuration of can node and components from Inifile (should be adapted to use ROS-Parameter file)
Definition at line 218 of file CanCtrlPltfCOb3.h.
The documentation for this class was generated from the following files: