#include <gpio_encoder.h>

Inheritance diagram for GPIOEncoderConfigurator:

Public Member Functions
double	getConversion (double reduction)
	getConversion Get conversion from pulse value to real value More...

	GPIOEncoderConfigurator (const ros::NodeHandle &nh, roboteq::serial_controller serial, std::vector< roboteq::Motor > motor, string name, unsigned int number)
	GPIOEncoderConfigurator. More...

void	initConfigurator (bool load_from_board)
	initConfigurator Initialize all parameter and syncronize parameters between ros and roboteq board More...

Private Member Functions
void	getEncoderFromRoboteq ()
	getEncoderFromRoboteq Load Encoder parameters from Roboteq board More...

void	reconfigureCBEncoder (roboteq_control::RoboteqEncoderConfig &config, uint32_t level)
	reconfigureCBEncoder when the dynamic reconfigurator change some values start this method More...

Private Attributes
roboteq_control::RoboteqEncoderConfig	_last_encoder_config

std::vector< roboteq::Motor * >	_motor

double	_reduction

roboteq_control::RoboteqEncoderConfig	default_encoder_config

dynamic_reconfigure::Server< roboteq_control::RoboteqEncoderConfig > *	ds_encoder
	Dynamic reconfigure encoder. More...

string	mName
	Associate name space. More...

unsigned int	mNumber
	Number motor. More...

roboteq::serial_controller *	mSerial
	Serial port. More...

ros::NodeHandle	nh_
	Private namespace. More...

bool	setup_encoder
	Setup variable. More...

Detailed Description

Redistribution and use in source and binary forms, with or without modification, are permitted provided that the following conditions are met:

Redistributions of source code must retain the above copyright notice, this list of conditions and the following disclaimer.
Redistributions in binary form must reproduce the above copyright notice, this list of conditions and the following disclaimer in the documentation and/or other materials provided with the distribution.
Neither the name of the copyright holder nor the names of its contributors may be used to endorse or promote products derived from this software without specific prior written permission.

THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.

Definition at line 44 of file gpio_encoder.h.

Constructor & Destructor Documentation

GPIOEncoderConfigurator::GPIOEncoderConfigurator	(	const ros::NodeHandle &	nh,
		roboteq::serial_controller *	serial,
		std::vector< roboteq::Motor * >	motor,
		string	name,
		unsigned int	number
	)

GPIOEncoderConfigurator.

Parameters

nh
serial
number

Definition at line 35 of file gpio_encoder.cpp.

Member Function Documentation

double GPIOEncoderConfigurator::getConversion ( double reduction )

virtual

getConversion Get conversion from pulse value to real value

Returns: the value of reduction before encoder

Implements GPIOSensor.

Definition at line 70 of file gpio_encoder.cpp.

void GPIOEncoderConfigurator::getEncoderFromRoboteq ( )

private

getEncoderFromRoboteq Load Encoder parameters from Roboteq board

Definition at line 84 of file gpio_encoder.cpp.

void GPIOEncoderConfigurator::initConfigurator ( bool load_from_board )

initConfigurator Initialize all parameter and syncronize parameters between ros and roboteq board

Parameters

load_from_board If true load all paramter from roboteq board

Definition at line 48 of file gpio_encoder.cpp.

void GPIOEncoderConfigurator::reconfigureCBEncoder	(	roboteq_control::RoboteqEncoderConfig &	config,
		uint32_t	level
	)

private

reconfigureCBEncoder when the dynamic reconfigurator change some values start this method

Parameters

config	variable with all configuration from dynamic reconfigurator
level

Definition at line 166 of file gpio_encoder.cpp.

Member Data Documentation

roboteq_control::RoboteqEncoderConfig GPIOEncoderConfigurator::_last_encoder_config

private

Definition at line 92 of file gpio_encoder.h.

std::vector<roboteq::Motor *> GPIOEncoderConfigurator::_motor

private

Definition at line 78 of file gpio_encoder.h.

double GPIOEncoderConfigurator::_reduction

private

Definition at line 81 of file gpio_encoder.h.

roboteq_control::RoboteqEncoderConfig GPIOEncoderConfigurator::default_encoder_config

private

Definition at line 92 of file gpio_encoder.h.

dynamic_reconfigure::Server<roboteq_control::RoboteqEncoderConfig>* GPIOEncoderConfigurator::ds_encoder

private

Dynamic reconfigure encoder.

Definition at line 84 of file gpio_encoder.h.

string GPIOEncoderConfigurator::mName

private

Associate name space.

Definition at line 70 of file gpio_encoder.h.

unsigned int GPIOEncoderConfigurator::mNumber

private

Number motor.

Definition at line 72 of file gpio_encoder.h.

roboteq::serial_controller* GPIOEncoderConfigurator::mSerial

private

Serial port.

Definition at line 76 of file gpio_encoder.h.

ros::NodeHandle GPIOEncoderConfigurator::nh_

private

Private namespace.

Definition at line 74 of file gpio_encoder.h.

bool GPIOEncoderConfigurator::setup_encoder

private

Setup variable.

Definition at line 67 of file gpio_encoder.h.

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

Public Member Functions

Private Member Functions

Private Attributes

Detailed Description

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation