robot_hardware::LowerController Class Reference

#include <seed_r7_lower_controller.h>

Classes
struct	RobotStatus

Public Member Functions
void	checkRobotStatus ()
float	getBatteryVoltage ()
std::string	getFirmwareVersion ()
void	getPosition ()
void	getRobotStatus (int8_t _number)
	LowerController (const std::string &_port)
void	onServo (bool _value)
void	remapAeroToRos (std::vector< int16_t > &_ros, std::vector< int16_t > &_aero)
void	remapRosToAero (std::vector< int16_t > &_aero, std::vector< int16_t > &_ros)
void	runScript (uint8_t _number, uint16_t _script)
void	sendPosition (uint16_t _time, std::vector< int16_t > &_data)
void	sendVelocity (std::vector< int16_t > &_data)
	~LowerController ()

Public Attributes
std::vector< int >	aero_index_
std::vector< std::pair< int, std::string > >	aero_table_
bool	comm_err_
bool	is_open_
std::vector< std::string >	name_
std::vector< int16_t >	raw_data_
struct robot_hardware::LowerController::RobotStatus	robot_status_
std::vector< std::string >	upper_name_
std::vector< int >	wheel_aero_index_
std::vector< std::string >	wheel_name_
std::vector< std::pair< int, std::string > >	wheel_table_

Protected Types
enum	error_bit_t {   can2_connection = 0, can2_calibration = 1, can2_motor_status = 2, can2_temperature = 3,   can2_response = 4, can2_step_out = 5, can2_protective_stopped = 6, can2_power = 7,   can1_connection = 8, can1_calibration = 9, can1_motor_status = 10, can1_temperature = 11,   can1_response = 12, can1_step_out = 13, can1_protective_stopped = 14, can1_power = 15 }

Protected Attributes
aero::controller::AeroCommand *	lower_

Static Protected Attributes
static const uint32_t	BAUDRATE = 1000000

Detailed Description

Definition at line 11 of file seed_r7_lower_controller.h.

Member Enumeration Documentation

enum robot_hardware::LowerController::error_bit_t

protected

Enumerator
can2_connection
can2_calibration
can2_motor_status
can2_temperature
can2_response
can2_step_out
can2_protective_stopped
can2_power
can1_connection
can1_calibration
can1_motor_status
can1_temperature
can1_response
can1_step_out
can1_protective_stopped
can1_power

Definition at line 57 of file seed_r7_lower_controller.h.

Constructor & Destructor Documentation

robot_hardware::LowerController::LowerController

(

const std::string &

_port

)

Definition at line 4 of file seed_r7_lower_controller.cpp.

robot_hardware::LowerController::~LowerController

(

)

Definition at line 44 of file seed_r7_lower_controller.cpp.

Member Function Documentation

void robot_hardware::LowerController::checkRobotStatus

(

)

Definition at line 130 of file seed_r7_lower_controller.cpp.

float robot_hardware::LowerController::getBatteryVoltage

(

)

Definition at line 111 of file seed_r7_lower_controller.cpp.

std::string robot_hardware::LowerController::getFirmwareVersion

(

)

Definition at line 117 of file seed_r7_lower_controller.cpp.

void robot_hardware::LowerController::getPosition

(

)

Definition at line 49 of file seed_r7_lower_controller.cpp.

void robot_hardware::LowerController::getRobotStatus

(

int8_t

_number

)

Definition at line 123 of file seed_r7_lower_controller.cpp.

void robot_hardware::LowerController::onServo

(

bool

_value

)

Definition at line 97 of file seed_r7_lower_controller.cpp.

void robot_hardware::LowerController::remapAeroToRos	(	std::vector< int16_t > &	_ros,
		std::vector< int16_t > &	_aero
	)

Definition at line 65 of file seed_r7_lower_controller.cpp.

void robot_hardware::LowerController::remapRosToAero	(	std::vector< int16_t > &	_aero,
		std::vector< int16_t > &	_ros
	)

Definition at line 74 of file seed_r7_lower_controller.cpp.

void robot_hardware::LowerController::runScript	(	uint8_t	_number,
		uint16_t	_script
	)

Definition at line 82 of file seed_r7_lower_controller.cpp.

void robot_hardware::LowerController::sendPosition	(	uint16_t	_time,
		std::vector< int16_t > &	_data
	)

Definition at line 56 of file seed_r7_lower_controller.cpp.

void robot_hardware::LowerController::sendVelocity

(

std::vector< int16_t > &

_data

)

Definition at line 86 of file seed_r7_lower_controller.cpp.

Member Data Documentation

std::vector<int> robot_hardware::LowerController::aero_index_

Definition at line 34 of file seed_r7_lower_controller.h.

std::vector<std::pair<int,std::string> > robot_hardware::LowerController::aero_table_

Definition at line 35 of file seed_r7_lower_controller.h.

const uint32_t robot_hardware::LowerController::BAUDRATE = 1000000

staticprotected

Definition at line 55 of file seed_r7_lower_controller.h.

bool robot_hardware::LowerController::comm_err_

Definition at line 41 of file seed_r7_lower_controller.h.

bool robot_hardware::LowerController::is_open_

Definition at line 29 of file seed_r7_lower_controller.h.

aero::controller::AeroCommand* robot_hardware::LowerController::lower_

protected

Definition at line 54 of file seed_r7_lower_controller.h.

std::vector<std::string> robot_hardware::LowerController::name_

Definition at line 33 of file seed_r7_lower_controller.h.

std::vector<int16_t> robot_hardware::LowerController::raw_data_

Definition at line 30 of file seed_r7_lower_controller.h.

struct robot_hardware::LowerController::RobotStatus robot_hardware::LowerController::robot_status_

std::vector<std::string> robot_hardware::LowerController::upper_name_

Definition at line 32 of file seed_r7_lower_controller.h.

std::vector<int> robot_hardware::LowerController::wheel_aero_index_

Definition at line 38 of file seed_r7_lower_controller.h.

std::vector<std::string> robot_hardware::LowerController::wheel_name_

Definition at line 37 of file seed_r7_lower_controller.h.

std::vector<std::pair<int,std::string> > robot_hardware::LowerController::wheel_table_

Definition at line 39 of file seed_r7_lower_controller.h.

---

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

• seed_r7_lower_controller.h
• seed_r7_lower_controller.cpp