#include <motor_message.h>

Public Types
enum	Limits { LIM_M1_PWM = 0x10, LIM_M2_PWM = 0x01, LIM_M1_INTEGRAL = 0x20, LIM_M2_INTEGRAL = 0x02 }

enum	MessageTypes { TYPE_READ = 0xA, TYPE_WRITE = 0xB, TYPE_RESPONSE = 0xC, TYPE_ERROR = 0xD }

enum	Registers { REG_STOP_START = 0x00, REG_BRAKE_STOP = 0x01, REG_CRUISE_STOP = 0x02, REG_LEFT_PWM = 0x03, REG_RIGHT_PWM = 0x04, REG_LEFT_SPEED_SET = 0x07, REG_RIGHT_SPEED_SET = 0x08, REG_LEFT_RAMP = 0x09, REG_RIGHT_RAMP = 0x0A, REG_LEFT_ODOM = 0x0B, REG_RIGHT_ODOM = 0x0C, REG_DEADMAN = 0x0D, REG_LEFT_CURRENT = 0x0E, REG_RIGHT_CURRENT = 0x0F, REG_ERROR_COUNT = 0x10, REG_5V_MAIN_ERROR = 0x11, REG_5V_AUX_ERROR = 0x12, REG_12V_MAIN_ERROR = 0x13, REG_12V_AUX_ERROR = 0x14, REG_5V_MAIN_OL = 0x15, REG_5V_AUX_OL = 0x16, REG_12V_MAIN_OL = 0x17, REG_12V_AUX_OL = 0x18, REG_LEFT_MOTOR_ERROR = 0x19, REG_RIGHT_MOTOR_ERROR = 0x1A, REG_PARAM_P = 0x1B, REG_PARAM_I = 0x1C, REG_PARAM_D = 0x1D, REG_PARAM_C = 0x1E, REG_LED_1 = 0x1F, REG_LED_2 = 0x20, REG_HARDWARE_VERSION = 0x21, REG_FIRMWARE_VERSION = 0x22, REG_BATTERY_VOLTAGE = 0x23, REG_5V_MAIN_CURRENT = 0x24, REG_12V_MAIN_CURRENT = 0x25, REG_5V_AUX_CURRENT = 0x26, REG_12V_AUX_CURRENT = 0x27, REG_LEFT_SPEED_MEASURED = 0x28, REG_RIGHT_SPEED_MEASURED = 0x29, REG_BOTH_SPEED_SET = 0x2A, REG_MOVING_BUF_SIZE = 0x2B, REG_LIMIT_REACHED = 0x2C, REG_BOTH_ERROR = 0x2D, REG_BOTH_ODOM = 0x30, DEBUG_50 = 0x50, DEBUG_51 = 0x51, DEBUG_52 = 0x52, DEBUG_53 = 0x53, DEBUG_54 = 0x54, DEBUG_55 = 0x55, DEBUG_56 = 0x56, DEBUG_57 = 0x57, DEBUG_58 = 0x58 }

Public Member Functions
int	deserialize (const RawMotorMessage &serialized)

int32_t	getData () const

MotorMessage::Registers	getRegister () const

MotorMessage::MessageTypes	getType () const

	MotorMessage ()

RawMotorMessage	serialize () const

void	setData (int32_t data)

void	setRegister (MotorMessage::Registers reg)

void	setType (MotorMessage::MessageTypes type)

	~MotorMessage ()

Static Private Member Functions
static uint8_t	generateChecksum (const std::vector< uint8_t > &data)

static uint8_t	generateChecksum (const RawMotorMessage &data)

static int	verifyRegister (uint8_t r)

static int	verifyType (uint8_t t)

Private Attributes
boost::array< uint8_t, 4 >	data

uint8_t	register_addr

uint8_t	type

Static Private Attributes
static const uint8_t	delimeter

static const uint8_t	protocol_version

static const uint8_t	valid_registers []

static const uint8_t	valid_types []

Detailed Description

Definition at line 40 of file motor_message.h.

Member Enumeration Documentation

enum MotorMessage::Limits

Enumerator
LIM_M1_PWM
LIM_M2_PWM
LIM_M1_INTEGRAL
LIM_M2_INTEGRAL

Definition at line 130 of file motor_message.h.

enum MotorMessage::MessageTypes

Enumerator
TYPE_READ
TYPE_WRITE
TYPE_RESPONSE
TYPE_ERROR

Definition at line 47 of file motor_message.h.

enum MotorMessage::Registers

Enumerator
REG_STOP_START
REG_BRAKE_STOP
REG_CRUISE_STOP
REG_LEFT_PWM
REG_RIGHT_PWM
REG_LEFT_SPEED_SET
REG_RIGHT_SPEED_SET
REG_LEFT_RAMP
REG_RIGHT_RAMP
REG_LEFT_ODOM
REG_RIGHT_ODOM
REG_DEADMAN
REG_LEFT_CURRENT
REG_RIGHT_CURRENT
REG_ERROR_COUNT
REG_5V_MAIN_ERROR
REG_5V_AUX_ERROR
REG_12V_MAIN_ERROR
REG_12V_AUX_ERROR
REG_5V_MAIN_OL
REG_5V_AUX_OL
REG_12V_MAIN_OL
REG_12V_AUX_OL
REG_LEFT_MOTOR_ERROR
REG_RIGHT_MOTOR_ERROR
REG_PARAM_P
REG_PARAM_I
REG_PARAM_D
REG_PARAM_C
REG_LED_1
REG_LED_2
REG_HARDWARE_VERSION
REG_FIRMWARE_VERSION
REG_BATTERY_VOLTAGE
REG_5V_MAIN_CURRENT
REG_12V_MAIN_CURRENT
REG_5V_AUX_CURRENT
REG_12V_AUX_CURRENT
REG_LEFT_SPEED_MEASURED
REG_RIGHT_SPEED_MEASURED
REG_BOTH_SPEED_SET
REG_MOVING_BUF_SIZE
REG_LIMIT_REACHED
REG_BOTH_ERROR
REG_BOTH_ODOM
DEBUG_50
DEBUG_51
DEBUG_52
DEBUG_53
DEBUG_54
DEBUG_55
DEBUG_56
DEBUG_57
DEBUG_58

Definition at line 55 of file motor_message.h.

Constructor & Destructor Documentation

MotorMessage::MotorMessage ( )

inline

Definition at line 43 of file motor_message.h.

MotorMessage::~MotorMessage ( )

inline

Definition at line 44 of file motor_message.h.

Member Function Documentation

int MotorMessage::deserialize ( const RawMotorMessage & serialized )

Definition at line 139 of file motor_message.cc.

static uint8_t MotorMessage::generateChecksum ( const std::vector< uint8_t > & data )

staticprivate

uint8_t MotorMessage::generateChecksum ( const RawMotorMessage & data )

staticprivate

Definition at line 190 of file motor_message.cc.

int32_t MotorMessage::getData ( ) const

Definition at line 123 of file motor_message.cc.

MotorMessage::Registers MotorMessage::getRegister ( ) const

Definition at line 110 of file motor_message.cc.

MotorMessage::MessageTypes MotorMessage::getType ( ) const

Definition at line 100 of file motor_message.cc.

RawMotorMessage MotorMessage::serialize ( ) const

Definition at line 129 of file motor_message.cc.

void MotorMessage::setData ( int32_t data )

Definition at line 114 of file motor_message.cc.

void MotorMessage::setRegister ( MotorMessage::Registers reg )

Definition at line 104 of file motor_message.cc.

void MotorMessage::setType ( MotorMessage::MessageTypes type )

Definition at line 94 of file motor_message.cc.

int MotorMessage::verifyRegister ( uint8_t r )

staticprivate

Definition at line 180 of file motor_message.cc.

int MotorMessage::verifyType ( uint8_t t )

staticprivate

Definition at line 171 of file motor_message.cc.

Member Data Documentation

boost::array<uint8_t, 4> MotorMessage::data

private

Definition at line 157 of file motor_message.h.

const uint8_t MotorMessage::delimeter

staticprivate

Initial value:

=

0x7E

Definition at line 159 of file motor_message.h.

const uint8_t MotorMessage::protocol_version

staticprivate

Initial value:

=

0x03

Definition at line 161 of file motor_message.h.

uint8_t MotorMessage::register_addr

private

Definition at line 154 of file motor_message.h.

uint8_t MotorMessage::type

private

Definition at line 152 of file motor_message.h.

uint8_t const MotorMessage::valid_registers

staticprivate

Definition at line 165 of file motor_message.h.

uint8_t const MotorMessage::valid_types

staticprivate

Initial value:

= {TYPE_READ, TYPE_WRITE,

TYPE_RESPONSE, TYPE_ERROR}

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 164 of file motor_message.h.

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

Public Types

Public Member Functions

Static Private Member Functions

Private Attributes

Static Private Attributes

Detailed Description

Member Enumeration Documentation

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation