#include <motor_pid.h>

Public Member Functions
void	initConfigurator (bool load_from_board)

	MotorPIDConfigurator (const ros::NodeHandle &nh, roboteq::serial_controller *serial, string path, string name, unsigned int number)
	MotorPIDConfigurator Initialize the dynamic reconfigurator. More...

void	setPIDconfiguration ()

Private Member Functions
void	getPIDFromRoboteq ()
	getPIDFromRoboteq Load PID parameters from Roboteq board More...

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

Private Attributes
roboteq_control::RoboteqPIDConfig	_last_pid_config

roboteq_control::RoboteqPIDConfig	default_pid_config

dynamic_reconfigure::Server< roboteq_control::RoboteqPIDConfig > *	ds_pid
	Dynamic reconfigure PID. More...

string	mName
	Associate name space. More...

unsigned int	mNumber
	Number motor. More...

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

string	mType

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

bool	setup_pid
	Setup variable. More...

Detailed Description

Definition at line 41 of file motor_pid.h.

Constructor & Destructor Documentation

MotorPIDConfigurator::MotorPIDConfigurator	(	const ros::NodeHandle &	nh,
		roboteq::serial_controller *	serial,
		string	path,
		string	name,
		unsigned int	number
	)

MotorPIDConfigurator Initialize the dynamic reconfigurator.

Parameters

nh	Nodehandle of the system
serial	serial port
path	original path to start to find all rosparam variable
name	name of the PID configuration
number	number of motor

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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 33 of file motor_pid.cpp.

Member Function Documentation

void MotorPIDConfigurator::getPIDFromRoboteq ( )

private

getPIDFromRoboteq Load PID parameters from Roboteq board

Definition at line 63 of file motor_pid.cpp.

void MotorPIDConfigurator::initConfigurator ( bool load_from_board )

Definition at line 48 of file motor_pid.cpp.

void MotorPIDConfigurator::reconfigureCBPID	(	roboteq_control::RoboteqPIDConfig &	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 172 of file motor_pid.cpp.

void MotorPIDConfigurator::setPIDconfiguration ( )

Definition at line 120 of file motor_pid.cpp.

Member Data Documentation

roboteq_control::RoboteqPIDConfig MotorPIDConfigurator::_last_pid_config

private

Definition at line 82 of file motor_pid.h.

roboteq_control::RoboteqPIDConfig MotorPIDConfigurator::default_pid_config

private

Definition at line 82 of file motor_pid.h.

dynamic_reconfigure::Server<roboteq_control::RoboteqPIDConfig>* MotorPIDConfigurator::ds_pid

private

Dynamic reconfigure PID.

Definition at line 73 of file motor_pid.h.

string MotorPIDConfigurator::mName

private

Associate name space.

Definition at line 63 of file motor_pid.h.

unsigned int MotorPIDConfigurator::mNumber

private

Number motor.

Definition at line 66 of file motor_pid.h.

roboteq::serial_controller* MotorPIDConfigurator::mSerial

private

Serial port.

Definition at line 70 of file motor_pid.h.

string MotorPIDConfigurator::mType

private

Definition at line 64 of file motor_pid.h.

ros::NodeHandle MotorPIDConfigurator::nh_

private

Private namespace.

Definition at line 68 of file motor_pid.h.

bool MotorPIDConfigurator::setup_pid

private

Setup variable.

Definition at line 60 of file motor_pid.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