#include <motor_param.h>

Public Member Functions
int	getOperativeMode ()

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

	MotorParamConfigurator (const ros::NodeHandle &nh, roboteq::serial_controller *serial, std::string name, unsigned int number)
	MotorParamConfigurator. More...

void	setOperativeMode (int type)
	setOperativeMode Reference in page 321 - MMOD More...

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

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

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

Private Attributes
roboteq_control::RoboteqParameterConfig	_last_param_config

roboteq_control::RoboteqPIDtypeConfig	_last_pid_type_config

roboteq_control::RoboteqParameterConfig	default_param_config

roboteq_control::RoboteqPIDtypeConfig	default_pid_type_config

dynamic_reconfigure::Server< roboteq_control::RoboteqParameterConfig > *	ds_param
	Dynamic reconfigure parameters. More...

dynamic_reconfigure::Server< roboteq_control::RoboteqPIDtypeConfig > *	ds_pid_type
	Dynamic reconfigure PID. 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_param
	Setup variable. More...

bool	setup_pid_type

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 43 of file motor_param.h.

Constructor & Destructor Documentation

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

MotorParamConfigurator.

Parameters

nh
serial
name
number	Copyright (C) 2017, Raffaello Bonghi raffa.nosp@m.ello.nosp@m.@rnex.nosp@m.t.it All rights reserved

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 33 of file motor_param.cpp.

Member Function Documentation

int MotorParamConfigurator::getOperativeMode ( )

Definition at line 88 of file motor_param.cpp.

void MotorParamConfigurator::getParamFromRoboteq ( )

private

getParamFromRoboteq Load parameters from Roboteq board

Definition at line 121 of file motor_param.cpp.

void MotorParamConfigurator::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 45 of file motor_param.cpp.

void MotorParamConfigurator::reconfigureCBParam	(	roboteq_control::RoboteqParameterConfig &	config,
		uint32_t	level
	)

private

reconfigureCBParam when the dynamic reconfigurator change some values start this method

Parameters

config	variable with all configuration from dynamic reconfigurator
level

Definition at line 197 of file motor_param.cpp.

void MotorParamConfigurator::reconfigureCBPIDtype	(	roboteq_control::RoboteqPIDtypeConfig &	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 100 of file motor_param.cpp.

void MotorParamConfigurator::setOperativeMode ( int type )

setOperativeMode Reference in page 321 - MMOD

Parameters

type	The operating_mode 0 - open_loop 1 - closed_loop_speed 2 - closed_loop_position_relative 3 - closed_loop_count_position 4 - closed_loop_position_tracking 5 - torque 6 - closed_loop_speed_position

Definition at line 82 of file motor_param.cpp.

Member Data Documentation

roboteq_control::RoboteqParameterConfig MotorParamConfigurator::_last_param_config

private

Definition at line 106 of file motor_param.h.

roboteq_control::RoboteqPIDtypeConfig MotorParamConfigurator::_last_pid_type_config

private

Definition at line 107 of file motor_param.h.

roboteq_control::RoboteqParameterConfig MotorParamConfigurator::default_param_config

private

Definition at line 106 of file motor_param.h.

roboteq_control::RoboteqPIDtypeConfig MotorParamConfigurator::default_pid_type_config

private

Definition at line 107 of file motor_param.h.

dynamic_reconfigure::Server<roboteq_control::RoboteqParameterConfig>* MotorParamConfigurator::ds_param

private

Dynamic reconfigure parameters.

Definition at line 88 of file motor_param.h.

dynamic_reconfigure::Server<roboteq_control::RoboteqPIDtypeConfig>* MotorParamConfigurator::ds_pid_type

private

Dynamic reconfigure PID.

Definition at line 97 of file motor_param.h.

string MotorParamConfigurator::mName

private

Associate name space.

Definition at line 79 of file motor_param.h.

unsigned int MotorParamConfigurator::mNumber

private

Number motor.

Definition at line 81 of file motor_param.h.

roboteq::serial_controller* MotorParamConfigurator::mSerial

private

Serial port.

Definition at line 85 of file motor_param.h.

ros::NodeHandle MotorParamConfigurator::nh_

private

Private namespace.

Definition at line 83 of file motor_param.h.

bool MotorParamConfigurator::setup_param

private

Setup variable.

Definition at line 76 of file motor_param.h.

bool MotorParamConfigurator::setup_pid_type

private

Definition at line 76 of file motor_param.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