#include <CanDriveItf.h>

Inheritance diagram for CanDriveItf:

Public Types
enum	MotionType { MOTIONTYPE_VELCTRL, MOTIONTYPE_TORQUECTRL, MOTIONTYPE_POSCTRL }

Public Member Functions
virtual bool	disableBrake (bool bDisabled)=0

virtual bool	evalReceivedMsg (CanMsg &msg)=0

virtual bool	evalReceivedMsg ()=0

virtual bool	execHoming ()=0

virtual unsigned int	getError ()=0

virtual void	getGearDeltaPosVelRadS (double pdDeltaAngleGearRad, double pdVelGearRadS)=0

virtual void	getGearPosRad (double *pdPosGearRad)=0

virtual void	getGearPosVelRadS (double pdAngleGearRad, double pdVelGearRadS)=0

virtual void	getMotorTorque (double *dTorqueNm)=0

virtual void	getStatus (int piStatus, int piTempCel)=0

virtual bool	getStatusLimitSwitch ()=0

virtual double	getTimeToLastMsg ()=0

virtual bool	init ()=0

virtual bool	initHoming ()=0

virtual void	IntprtSetInt (int iDataLen, char cCmdChar1, char cCmdChar2, int iIndex, int iData)=0

virtual bool	isError ()=0

virtual bool	isInitialized ()=0

virtual void	requestMotorTorque ()=0

virtual void	requestPosVel ()=0

virtual void	requestStatus ()=0

virtual bool	reset ()=0

virtual bool	resetEMStop ()=0

virtual void	setCanItf (CanItf *pCanItf)=0

virtual void	setDriveParam (DriveParam driveParam)=0

virtual bool	setEMStop ()=0

virtual void	setGearPosVelRadS (double dPosRad, double dVelRadS)=0

virtual void	setGearVelRadS (double dVelRadS)=0

virtual void	setMotorTorque (double dTorqueNm)=0

virtual int	setRecorder (int iFlag, int iParam=0, std::string sParam="/home/MyLog")=0

virtual bool	setTypeMotion (int iType)=0

virtual bool	shutdown ()=0

virtual bool	start ()=0

virtual bool	startWatchdog (bool bStarted)=0

virtual bool	stop ()=0

Detailed Description

Interface for a drive.

Definition at line 31 of file CanDriveItf.h.

Member Enumeration Documentation

enum CanDriveItf::MotionType

Motion type of the controller.

Enumerator
MOTIONTYPE_VELCTRL
MOTIONTYPE_TORQUECTRL
MOTIONTYPE_POSCTRL

Definition at line 37 of file CanDriveItf.h.

Member Function Documentation

virtual bool CanDriveItf::disableBrake ( bool bDisabled )

pure virtual

Disables the brake. This function is not implemented for Harmonica, because brakes are released upon power on and shut only at emergency stop.

Implemented in CanDriveHarmonica.

virtual bool CanDriveItf::evalReceivedMsg ( CanMsg & msg )

pure virtual

Evals a received message. Only messages with fitting identifiers are evaluated.

Parameters

msg	message to be evaluated.

Implemented in CanDriveHarmonica.

virtual bool CanDriveItf::evalReceivedMsg ( )

pure virtual

Evals received messages in OBJECT mode. The CAN drives have to implement which identifiers they are interested in.

Returns: true on success, false on failure.

Implemented in CanDriveHarmonica.

virtual bool CanDriveItf::execHoming ( )

pure virtual

Performs homing procedure. Used only in position mode.

Implemented in CanDriveHarmonica.

virtual unsigned int CanDriveItf::getError ( )

pure virtual

Return a bitfield containing information about the pending errors.

Implemented in CanDriveHarmonica.

virtual void CanDriveItf::getGearDeltaPosVelRadS	(	double *	pdDeltaAngleGearRad,
		double *	pdVelGearRadS
	)

pure virtual

Returns the change of the position and the velocity. The given delta position is given since the last call of this function.

Implemented in CanDriveHarmonica.

virtual void CanDriveItf::getGearPosRad ( double * pdPosGearRad )

pure virtual

Returns the current position.

Implemented in CanDriveHarmonica.

virtual void CanDriveItf::getGearPosVelRadS	(	double *	pdAngleGearRad,
		double *	pdVelGearRadS
	)

pure virtual

Returns the position and the velocity of the drive.

Implemented in CanDriveHarmonica.

virtual void CanDriveItf::getMotorTorque ( double * dTorqueNm )

pure virtual

Returns member variable m_MotorCurrent To update this value call requestMotorCurrent before and evaluate CAN buffer, or wait one cycle

Implemented in CanDriveHarmonica.

virtual void CanDriveItf::getStatus	(	int *	piStatus,
		int *	piTempCel
	)

pure virtual

Returns the measured temperature.

Implemented in CanDriveHarmonica.

virtual bool CanDriveItf::getStatusLimitSwitch ( )

pure virtual

Returns the status of the limit switch needed for homing. true = limit switch is reached; false = not reached

Implemented in CanDriveHarmonica.

virtual double CanDriveItf::getTimeToLastMsg ( )

pure virtual

Returns the elapsed time since the last received message.

Implemented in CanDriveHarmonica.

virtual bool CanDriveItf::init ( )

pure virtual

Initializes the driver. Call this function once after construction.

Implemented in CanDriveHarmonica.

virtual bool CanDriveItf::initHoming ( )

pure virtual

Inits homing procedure. Used only in position mode.

Implemented in CanDriveHarmonica.

virtual void CanDriveItf::IntprtSetInt	(	int	iDataLen,
		char	cCmdChar1,
		char	cCmdChar2,
		int	iIndex,
		int	iData
	)

pure virtual

Sends an integer value to the Harmonica using the built in interpreter. cpc-kischa

Implemented in CanDriveHarmonica.

virtual bool CanDriveItf::isError ( )

pure virtual

Returns true if an error has been detected.

Implemented in CanDriveHarmonica.

virtual bool CanDriveItf::isInitialized ( )

pure virtual

Check if the driver is already initialized. This is necessary if a drive gets switched off during runtime.

Returns: true if initialization occured already, false if not.

Implemented in CanDriveHarmonica.

virtual void CanDriveItf::requestMotorTorque ( )

pure virtual

Sends Requests for "active current" to motor via CAN

Implemented in CanDriveHarmonica.

virtual void CanDriveItf::requestPosVel ( )

pure virtual

Requests position and velocity.

Implemented in CanDriveHarmonica.

virtual void CanDriveItf::requestStatus ( )

pure virtual

Requests status.

Implemented in CanDriveHarmonica.

virtual bool CanDriveItf::reset ( )

pure virtual

Resets the drive. The drive changes into the state after initializaton.

Implemented in CanDriveHarmonica.

virtual bool CanDriveItf::resetEMStop ( )

pure virtual

Disable the emergency stop.

Implemented in CanDriveHarmonica.

virtual void CanDriveItf::setCanItf ( CanItf * pCanItf )

pure virtual

Sets the CAN interface.

Implemented in CanDriveHarmonica.

virtual void CanDriveItf::setDriveParam ( DriveParam driveParam )

pure virtual

Sets the drive parameter.

Implemented in CanDriveHarmonica.

virtual bool CanDriveItf::setEMStop ( )

pure virtual

Enable the emergency stop.

Implemented in CanDriveHarmonica.

virtual void CanDriveItf::setGearPosVelRadS	(	double	dPosRad,
		double	dVelRadS
	)

pure virtual

Sets required position and veolocity. Use this function only in position mode. By calling the function the status is requested, too.

Implemented in CanDriveHarmonica.

virtual void CanDriveItf::setGearVelRadS ( double dVelRadS )

pure virtual

Sets the velocity. By calling the function the status is requested, too.

Implemented in CanDriveHarmonica.

virtual void CanDriveItf::setMotorTorque ( double dTorqueNm )

pure virtual

Sends command for motor Torque (in Nm)

Implemented in CanDriveHarmonica.

virtual int CanDriveItf::setRecorder	(	int	iFlag,
		int	iParam = `0`,
		std::string	sParam = `"/home/MyLog"`
	)

pure virtual

Provides several functions for drive information recording purposes. By now, only implemented for the Elmo-recorder. cpc-pk

Implemented in CanDriveHarmonica.

virtual bool CanDriveItf::setTypeMotion ( int iType )

pure virtual

Sets the motion type drive. The function is not implemented for Harmonica. The harmonica drive is configured just for velocity mode.

Implemented in CanDriveHarmonica.

virtual bool CanDriveItf::shutdown ( )

pure virtual

Shutdowns the motor.

Implemented in CanDriveHarmonica.

virtual bool CanDriveItf::start ( )

pure virtual

Enables the motor. After calling the drive accepts velocity and position commands.

Implemented in CanDriveHarmonica.

virtual bool CanDriveItf::startWatchdog ( bool bStarted )

pure virtual

Starts the watchdog. The Harmonica provides watchdog functionality which means the drive stops if the watchdog becomes active. To keep the watchdog inactive a heartbeat message has to be sent periodically. The update rate is set to 1s. The update is is done in function setGearVelRadS().

Implemented in CanDriveHarmonica.

virtual bool CanDriveItf::stop ( )

pure virtual

Disables the motor. After calling the drive won't accepts velocity and position commands.

Implemented in CanDriveHarmonica.

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

CanDriveItf.h

Public Types

Public Member Functions

Detailed Description

Member Enumeration Documentation

Member Function Documentation