#include <motor.h>

Inheritance diagram for roboteq::Motor:

Public Member Functions
string	getName ()
	getName the name of the motor More...

int	getNumber ()
	getNumber The roboteq number More...

void	initializeMotor (bool load_from_board)
	initializeMotor Initialization oh motor, this routine load parameter from ros server or load from roboteq board More...

	Motor (const ros::NodeHandle &nh, serial_controller *serial, string name, unsigned int number)
	Motor The motor definition and all ros controller initializations are collected in this place. More...

void	readVector (std::vector< std::string > fields)
	readVector Decode vector data list More...

void	registerSensor (GPIOSensor *sensor)
	registerSensor register the sensor More...

void	resetPosition (double position)
	resetPosition Reset the motor in a new initial position More...

void	run (diagnostic_updater::DiagnosticStatusWrapper &stat)
	run Run the diagnostic updater More...

void	setupLimits (urdf::Model model)
	setupLimits setup the maximum velocity, positio and effort More...

void	stopMotor ()
	stopMotor Stop the motor More...

void	switchController (string type)
	switchController Switch the controller from different type of ros controller More...

void	writeCommandsToHardware (ros::Duration period)
	writeCommandsToHardware Write a command to the hardware interface More...

Public Member Functions inherited from diagnostic_updater::DiagnosticTask
	DiagnosticTask (const std::string name)

const std::string &	getName ()

virtual	~DiagnosticTask ()

Public Attributes
hardware_interface::JointHandle	joint_handle

hardware_interface::JointStateHandle	joint_state_handle

unsigned int	mNumber

double	position

Protected Member Functions
double	from_encoder_ticks (double x)

double	to_encoder_ticks (double x)

Static Protected Member Functions
static double	from_rpm (double x)

static double	to_rpm (double x)

Private Member Functions
void	connectionCallback (const ros::SingleSubscriberPublisher &pub)

void	read (string data)

Private Attributes
int	_control_mode

GPIOSensor *	_sensor

motor_status_t	_status

double	command

double	effort

double	max_effort

double	max_position

double	max_velocity

string	mMotorName

ros::NodeHandle	mNh

serial_controller *	mSerial

roboteq_control::ControlStatus	msg_control

roboteq_control::MotorStatus	msg_status

MotorParamConfigurator *	parameter

MotorPIDConfigurator *	pid_position

MotorPIDConfigurator *	pid_torque

MotorPIDConfigurator *	pid_velocity

ros::Publisher	pub_control

ros::Publisher	pub_status

joint_limits_interface::VelocityJointSoftLimitsInterface	vel_limits_interface
	ROS joint limits interface. More...

double	velocity

Detailed Description

Definition at line 65 of file motor.h.

Constructor & Destructor Documentation

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

explicit

Motor The motor definition and all ros controller initializations are collected in this place.

Parameters

nh	The ROS private node handle
serial	The serial controller
name	The name of the motor
number	The number in Roboteq board

Definition at line 41 of file motor.cpp.

Member Function Documentation

void roboteq::Motor::connectionCallback ( const ros::SingleSubscriberPublisher & pub )

private

Definition at line 74 of file motor.cpp.

double roboteq::Motor::from_encoder_ticks ( double x )

protected

Conversion of encoder ticks to radians.

Parameters

x	Angular position in encoder ticks.

Returns: Angular position in radians.

Definition at line 128 of file motor.cpp.

static double roboteq::Motor::from_rpm ( double x )

inlinestaticprotected

Parameters

x	Angular velocity in RPM.

Returns: Angular velocity in rad/s.

Definition at line 158 of file motor.h.

string roboteq::Motor::getName ( )

inline

getName the name of the motor

Returns: the string with the name of the motor

Definition at line 122 of file motor.h.

int roboteq::Motor::getNumber ( )

inline

getNumber The roboteq number

Returns: the number associated in the roboteq board

Definition at line 114 of file motor.h.

void roboteq::Motor::initializeMotor ( bool load_from_board )

initializeMotor Initialization oh motor, this routine load parameter from ros server or load from roboteq board

Parameters

load_from_board forse the load from roboteq board

Definition at line 79 of file motor.cpp.

void roboteq::Motor::read ( string data )

private

Definition at line 350 of file motor.cpp.

void roboteq::Motor::readVector ( std::vector< std::string > fields )

readVector Decode vector data list

Parameters

fields field of measures

Definition at line 357 of file motor.cpp.

void roboteq::Motor::registerSensor ( GPIOSensor * sensor )

inline

registerSensor register the sensor

Parameters

sensor the sensor interface

Definition at line 129 of file motor.h.

void roboteq::Motor::resetPosition ( double position )

resetPosition Reset the motor in a new initial position

Parameters

position the new position

Definition at line 326 of file motor.cpp.

void roboteq::Motor::run ( diagnostic_updater::DiagnosticStatusWrapper & stat )

virtual

run Run the diagnostic updater

Parameters

stat	the stat will be updated

Implements diagnostic_updater::DiagnosticTask.

Definition at line 211 of file motor.cpp.

void roboteq::Motor::setupLimits ( urdf::Model model )

setupLimits setup the maximum velocity, positio and effort

Parameters

model the robot model

Add a velocity joint limits infomations

Definition at line 140 of file motor.cpp.

void roboteq::Motor::stopMotor ( )

stopMotor Stop the motor

Definition at line 298 of file motor.cpp.

void roboteq::Motor::switchController ( string type )

switchController Switch the controller from different type of ros controller

Parameters

type	the type of ros controller

Definition at line 306 of file motor.cpp.

double roboteq::Motor::to_encoder_ticks ( double x )

protected

Conversion of radians to encoder ticks.

Parameters

x	Angular position in radians.

Returns: Angular position in encoder ticks.

Definition at line 109 of file motor.cpp.

static double roboteq::Motor::to_rpm ( double x )

inlinestaticprotected

Parameters

x	Angular velocity in radians/s.

Returns: Angular velocity in RPM.

Definition at line 149 of file motor.h.

void roboteq::Motor::writeCommandsToHardware ( ros::Duration period )

writeCommandsToHardware Write a command to the hardware interface

Parameters

period the period update

Definition at line 334 of file motor.cpp.

Member Data Documentation

int roboteq::Motor::_control_mode

private

Definition at line 195 of file motor.h.

GPIOSensor* roboteq::Motor::_sensor

private

Definition at line 212 of file motor.h.

motor_status_t roboteq::Motor::_status

private

Definition at line 196 of file motor.h.

double roboteq::Motor::command

private

Definition at line 193 of file motor.h.

double roboteq::Motor::effort

private

Definition at line 192 of file motor.h.

hardware_interface::JointHandle roboteq::Motor::joint_handle

Definition at line 140 of file motor.h.

hardware_interface::JointStateHandle roboteq::Motor::joint_state_handle

Definition at line 139 of file motor.h.

double roboteq::Motor::max_effort

private

Definition at line 192 of file motor.h.

double roboteq::Motor::max_position

private

Definition at line 190 of file motor.h.

double roboteq::Motor::max_velocity

private

Definition at line 191 of file motor.h.

string roboteq::Motor::mMotorName

private

Definition at line 186 of file motor.h.

ros::NodeHandle roboteq::Motor::mNh

private

Definition at line 184 of file motor.h.

unsigned int roboteq::Motor::mNumber

Definition at line 143 of file motor.h.

serial_controller* roboteq::Motor::mSerial

private

Definition at line 188 of file motor.h.

roboteq_control::ControlStatus roboteq::Motor::msg_control

private

Definition at line 205 of file motor.h.

roboteq_control::MotorStatus roboteq::Motor::msg_status

private

Definition at line 204 of file motor.h.

MotorParamConfigurator* roboteq::Motor::parameter

private

Definition at line 207 of file motor.h.

MotorPIDConfigurator* roboteq::Motor::pid_position

private

Definition at line 210 of file motor.h.

MotorPIDConfigurator* roboteq::Motor::pid_torque

private

Definition at line 209 of file motor.h.

MotorPIDConfigurator* roboteq::Motor::pid_velocity

private

Definition at line 208 of file motor.h.

double roboteq::Motor::position

Definition at line 179 of file motor.h.

ros::Publisher roboteq::Motor::pub_control

private

Definition at line 202 of file motor.h.

ros::Publisher roboteq::Motor::pub_status

private

Definition at line 202 of file motor.h.

joint_limits_interface::VelocityJointSoftLimitsInterface roboteq::Motor::vel_limits_interface

private

ROS joint limits interface.

Definition at line 199 of file motor.h.

double roboteq::Motor::velocity

private

Definition at line 191 of file motor.h.

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

Public Member Functions

Public Attributes

Protected Member Functions

Static Protected Member Functions

Private Member Functions

Private Attributes

Detailed Description

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation