#include <motor_hardware.h>

Inheritance diagram for MotorHardware:

Classes
struct	Joint

Public Member Functions
	MotorHardware (ros::NodeHandle nh, CommsParams serial_params, FirmwareParams firmware_params)

void	readInputs ()

void	requestVersion ()

void	sendParams ()

void	setDeadmanTimer (int32_t deadman)

void	setDebugLeds (bool led1, bool led2)

void	setParams (FirmwareParams firmware_params)

void	writeSpeeds ()

virtual	~MotorHardware ()

Public Member Functions inherited from hardware_interface::RobotHW
virtual bool	checkForConflict (const std::list< ControllerInfo > &info) const

virtual bool	checkForConflict (const std::list< ControllerInfo > &info) const

virtual void	doSwitch (const std::list< ControllerInfo > &, const std::list< ControllerInfo > &)

virtual void	doSwitch (const std::list< ControllerInfo > &, const std::list< ControllerInfo > &)

virtual bool	init (ros::NodeHandle &root_nh, ros::NodeHandle &robot_hw_nh)

virtual bool	prepareSwitch (const std::list< ControllerInfo > &start_list, const std::list< ControllerInfo > &stop_list)

virtual bool	prepareSwitch (const std::list< ControllerInfo > &start_list, const std::list< ControllerInfo > &stop_list)

virtual void	read (const ros::Time &time, const ros::Duration &period)

virtual void	read (const ros::Time &time, const ros::Duration &period)

	RobotHW ()

virtual void	write (const ros::Time &time, const ros::Duration &period)

virtual void	write (const ros::Time &time, const ros::Duration &period)

virtual	~RobotHW ()

Public Member Functions inherited from hardware_interface::InterfaceManager
T *	get ()

std::vector< std::string >	getInterfaceResources (std::string iface_type) const

std::vector< std::string >	getNames () const

void	registerInterface (T *iface)

void	registerInterfaceManager (InterfaceManager *iface_man)

Public Attributes
int	firmware_version

Private Member Functions
void	_addOdometryRequest (std::vector< MotorMessage > &commands) const

void	_addVelocityRequest (std::vector< MotorMessage > &commands) const

double	calculateRadiansFromTics (int16_t tics) const

int16_t	calculateTicsFromRadians (double radians) const

	FRIEND_TEST (MotorHardwareTests, nonZeroWriteSpeedsOutputs)

	FRIEND_TEST (MotorHardwareTests, odomUpdatesPosition)

	FRIEND_TEST (MotorHardwareTests, odomUpdatesPositionMax)

Private Attributes
int32_t	deadman_timer

hardware_interface::JointStateInterface	joint_state_interface_

struct MotorHardware::Joint	joints_ [2]

ros::Publisher	leftError

MotorSerial *	motor_serial_

FirmwareParams	pid_params

FirmwareParams	prev_pid_params

ros::Publisher	pubS50

ros::Publisher	pubS51

ros::Publisher	pubS52

ros::Publisher	pubS53

ros::Publisher	pubS54

ros::Publisher	pubS55

ros::Publisher	pubS56

ros::Publisher	pubS57

ros::Publisher	pubS58

ros::Publisher	pubS59

ros::Publisher	pubU50

ros::Publisher	pubU51

ros::Publisher	pubU52

ros::Publisher	pubU53

ros::Publisher	pubU54

ros::Publisher	pubU55

ros::Publisher	pubU56

ros::Publisher	pubU57

ros::Publisher	pubU58

ros::Publisher	pubU59

ros::Publisher	rightError

int32_t	sendPid_count

hardware_interface::VelocityJointInterface	velocity_joint_interface_

Additional Inherited Members
Protected Types inherited from hardware_interface::InterfaceManager
typedef std::vector< InterfaceManager * >	InterfaceManagerVector

typedef std::map< std::string, void * >	InterfaceMap

typedef std::map< std::string, std::vector< std::string > >	ResourceMap

typedef std::map< std::string, size_t >	SizeMap

Protected Attributes inherited from hardware_interface::InterfaceManager
boost::ptr_vector< ResourceManagerBase >	interface_destruction_list_

InterfaceManagerVector	interface_managers_

InterfaceMap	interfaces_

InterfaceMap	interfaces_combo_

SizeMap	num_ifaces_registered_

ResourceMap	resources_

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 ubiquity_motor 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 48 of file motor_hardware.h.

Constructor & Destructor Documentation

MotorHardware::MotorHardware	(	ros::NodeHandle	nh,
		CommsParams	serial_params,
		FirmwareParams	firmware_params
	)

Definition at line 47 of file motor_hardware.cc.

MotorHardware::~MotorHardware ( )

virtual

Definition at line 107 of file motor_hardware.cc.

Member Function Documentation

void MotorHardware::_addOdometryRequest ( std::vector< MotorMessage > & commands ) const

private

void MotorHardware::_addVelocityRequest ( std::vector< MotorMessage > & commands ) const

private

double MotorHardware::calculateRadiansFromTics ( int16_t tics ) const

private

Definition at line 365 of file motor_hardware.cc.

int16_t MotorHardware::calculateTicsFromRadians ( double radians ) const

private

Definition at line 360 of file motor_hardware.cc.

MotorHardware::FRIEND_TEST	(	MotorHardwareTests	,
		nonZeroWriteSpeedsOutputs
	)

private

MotorHardware::FRIEND_TEST	(	MotorHardwareTests	,
		odomUpdatesPosition
	)

private

MotorHardware::FRIEND_TEST	(	MotorHardwareTests	,
		odomUpdatesPositionMax
	)

private

void MotorHardware::readInputs ( )

Definition at line 109 of file motor_hardware.cc.

void MotorHardware::requestVersion ( )

Definition at line 239 of file motor_hardware.cc.

void MotorHardware::sendParams ( )

Definition at line 264 of file motor_hardware.cc.

void MotorHardware::setDeadmanTimer ( int32_t deadman )

Definition at line 247 of file motor_hardware.cc.

void MotorHardware::setDebugLeds	(	bool	led1,
		bool	led2
	)

Definition at line 334 of file motor_hardware.cc.

void MotorHardware::setParams ( FirmwareParams firmware_params )

Definition at line 256 of file motor_hardware.cc.

void MotorHardware::writeSpeeds ( )

Definition at line 217 of file motor_hardware.cc.

Member Data Documentation

int32_t MotorHardware::deadman_timer

private

Definition at line 76 of file motor_hardware.h.

int MotorHardware::firmware_version

Definition at line 61 of file motor_hardware.h.

hardware_interface::JointStateInterface MotorHardware::joint_state_interface_

private

Definition at line 70 of file motor_hardware.h.

struct MotorHardware::Joint MotorHardware::joints_[2]

private

ros::Publisher MotorHardware::leftError

private

Definition at line 89 of file motor_hardware.h.

MotorSerial* MotorHardware::motor_serial_

private

Definition at line 113 of file motor_hardware.h.

FirmwareParams MotorHardware::pid_params

private

Definition at line 73 of file motor_hardware.h.

FirmwareParams MotorHardware::prev_pid_params

private

Definition at line 74 of file motor_hardware.h.

ros::Publisher MotorHardware::pubS50

private

Definition at line 93 of file motor_hardware.h.

ros::Publisher MotorHardware::pubS51

private

Definition at line 95 of file motor_hardware.h.

ros::Publisher MotorHardware::pubS52

private

Definition at line 97 of file motor_hardware.h.

ros::Publisher MotorHardware::pubS53

private

Definition at line 99 of file motor_hardware.h.

ros::Publisher MotorHardware::pubS54

private

Definition at line 101 of file motor_hardware.h.

ros::Publisher MotorHardware::pubS55

private

Definition at line 103 of file motor_hardware.h.

ros::Publisher MotorHardware::pubS56

private

Definition at line 105 of file motor_hardware.h.

ros::Publisher MotorHardware::pubS57

private

Definition at line 107 of file motor_hardware.h.

ros::Publisher MotorHardware::pubS58

private

Definition at line 109 of file motor_hardware.h.

ros::Publisher MotorHardware::pubS59

private

Definition at line 111 of file motor_hardware.h.

ros::Publisher MotorHardware::pubU50

private

Definition at line 92 of file motor_hardware.h.

ros::Publisher MotorHardware::pubU51

private

Definition at line 94 of file motor_hardware.h.

ros::Publisher MotorHardware::pubU52

private

Definition at line 96 of file motor_hardware.h.

ros::Publisher MotorHardware::pubU53

private

Definition at line 98 of file motor_hardware.h.

ros::Publisher MotorHardware::pubU54

private

Definition at line 100 of file motor_hardware.h.

ros::Publisher MotorHardware::pubU55

private

Definition at line 102 of file motor_hardware.h.

ros::Publisher MotorHardware::pubU56

private

Definition at line 104 of file motor_hardware.h.

ros::Publisher MotorHardware::pubU57

private

Definition at line 106 of file motor_hardware.h.

ros::Publisher MotorHardware::pubU58

private

Definition at line 108 of file motor_hardware.h.

ros::Publisher MotorHardware::pubU59

private

Definition at line 110 of file motor_hardware.h.

ros::Publisher MotorHardware::rightError

private

Definition at line 90 of file motor_hardware.h.

int32_t MotorHardware::sendPid_count

private

Definition at line 78 of file motor_hardware.h.

hardware_interface::VelocityJointInterface MotorHardware::velocity_joint_interface_

private

Definition at line 71 of file motor_hardware.h.

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

Classes

Public Member Functions

Public Attributes

Private Member Functions

Private Attributes

Additional Inherited Members

Detailed Description

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation