vesc_driver::VescDriver Class Reference

#include <vesc_driver.h>

Classes
struct	CommandLimit

Public Member Functions
	VescDriver (ros::NodeHandle nh, ros::NodeHandle private_nh)

Private Types
enum	driver_mode_t { MODE_INITIALIZING, MODE_OPERATING }

Private Member Functions
void	brakeCallback (const std_msgs::Float64::ConstPtr &brake)
void	currentCallback (const std_msgs::Float64::ConstPtr &current)
void	dutyCycleCallback (const std_msgs::Float64::ConstPtr &duty_cycle)
void	positionCallback (const std_msgs::Float64::ConstPtr &position)
void	servoCallback (const std_msgs::Float64::ConstPtr &servo)
void	speedCallback (const std_msgs::Float64::ConstPtr &speed)
void	timerCallback (const ros::TimerEvent &event)
void	vescErrorCallback (const std::string &error)
void	vescPacketCallback (const std::shared_ptr< VescPacket const > &packet)

Private Attributes
CommandLimit	brake_limit_
ros::Subscriber	brake_sub_
CommandLimit	current_limit_
ros::Subscriber	current_sub_
driver_mode_t	driver_mode_
	driver state machine mode (state) More...
CommandLimit	duty_cycle_limit_
ros::Subscriber	duty_cycle_sub_
int	fw_version_major_
	firmware major version reported by vesc More...
int	fw_version_minor_
	firmware minor version reported by vesc More...
CommandLimit	position_limit_
ros::Subscriber	position_sub_
CommandLimit	servo_limit_
ros::Publisher	servo_sensor_pub_
ros::Subscriber	servo_sub_
CommandLimit	speed_limit_
ros::Subscriber	speed_sub_
ros::Publisher	state_pub_
ros::Timer	timer_
VescInterface	vesc_

Detailed Description

Definition at line 44 of file vesc_driver.h.

Member Enumeration Documentation

enum vesc_driver::VescDriver::driver_mode_t

private

Enumerator
MODE_INITIALIZING
MODE_OPERATING

Definition at line 86 of file vesc_driver.h.

Constructor & Destructor Documentation

vesc_driver::VescDriver::VescDriver	(	ros::NodeHandle	nh,
		ros::NodeHandle	private_nh
	)

Definition at line 43 of file vesc_driver.cpp.

Member Function Documentation

void vesc_driver::VescDriver::brakeCallback ( const std_msgs::Float64::ConstPtr &  brake )

private

Parameters

brake

Commanded VESC braking current in Amps. Any value is accepted by this driver. However, note that the VESC may impose a more restrictive bounds on the range depending on its configuration.

Definition at line 217 of file vesc_driver.cpp.

void vesc_driver::VescDriver::currentCallback ( const std_msgs::Float64::ConstPtr &  current )

private

Parameters

current

Commanded VESC current in Amps. Any value is accepted by this driver. However, note that the VESC may impose a more restrictive bounds on the range depending on its configuration.

Definition at line 204 of file vesc_driver.cpp.

void vesc_driver::VescDriver::dutyCycleCallback ( const std_msgs::Float64::ConstPtr &  duty_cycle )

private

Parameters

duty_cycle

Commanded VESC duty cycle. Valid range for this driver is -1 to +1. However, note that the VESC may impose a more restrictive bounds on the range depending on its configuration, e.g. absolute value is between 0.05 and 0.95.

Definition at line 191 of file vesc_driver.cpp.

void vesc_driver::VescDriver::positionCallback ( const std_msgs::Float64::ConstPtr &  position )

private

Parameters

position

Commanded VESC motor position in radians. Any value is accepted by this driver. Note that the VESC must be in encoder mode for this command to have an effect.

Definition at line 243 of file vesc_driver.cpp.

void vesc_driver::VescDriver::servoCallback ( const std_msgs::Float64::ConstPtr &  servo )

private

Parameters

servo

Commanded VESC servo output position. Valid range is 0 to 1.

Definition at line 256 of file vesc_driver.cpp.

void vesc_driver::VescDriver::speedCallback ( const std_msgs::Float64::ConstPtr &  speed )

private

Parameters

speed

Commanded VESC speed in electrical RPM. Electrical RPM is the mechanical RPM multiplied by the number of motor poles. Any value is accepted by this driver. However, note that the VESC may impose a more restrictive bounds on the range depending on its configuration.

Definition at line 231 of file vesc_driver.cpp.

void vesc_driver::VescDriver::timerCallback ( const ros::TimerEvent &  event )

private

Definition at line 107 of file vesc_driver.cpp.

void vesc_driver::VescDriver::vescErrorCallback ( const std::string &  error )

private

Definition at line 181 of file vesc_driver.cpp.

void vesc_driver::VescDriver::vescPacketCallback ( const std::shared_ptr< VescPacket const > &  packet )

private

Definition at line 146 of file vesc_driver.cpp.

Member Data Documentation

CommandLimit vesc_driver::VescDriver::brake_limit_

private

Definition at line 69 of file vesc_driver.h.

ros::Subscriber vesc_driver::VescDriver::brake_sub_

private

Definition at line 79 of file vesc_driver.h.

CommandLimit vesc_driver::VescDriver::current_limit_

private

Definition at line 68 of file vesc_driver.h.

ros::Subscriber vesc_driver::VescDriver::current_sub_

private

Definition at line 78 of file vesc_driver.h.

driver_mode_t vesc_driver::VescDriver::driver_mode_

private

driver state machine mode (state)

Definition at line 94 of file vesc_driver.h.

CommandLimit vesc_driver::VescDriver::duty_cycle_limit_

private

Definition at line 67 of file vesc_driver.h.

ros::Subscriber vesc_driver::VescDriver::duty_cycle_sub_

private

Definition at line 77 of file vesc_driver.h.

int vesc_driver::VescDriver::fw_version_major_

private

firmware major version reported by vesc

Definition at line 95 of file vesc_driver.h.

int vesc_driver::VescDriver::fw_version_minor_

private

firmware minor version reported by vesc

Definition at line 96 of file vesc_driver.h.

CommandLimit vesc_driver::VescDriver::position_limit_

private

Definition at line 71 of file vesc_driver.h.

ros::Subscriber vesc_driver::VescDriver::position_sub_

private

Definition at line 81 of file vesc_driver.h.

CommandLimit vesc_driver::VescDriver::servo_limit_

private

Definition at line 72 of file vesc_driver.h.

ros::Publisher vesc_driver::VescDriver::servo_sensor_pub_

private

Definition at line 76 of file vesc_driver.h.

ros::Subscriber vesc_driver::VescDriver::servo_sub_

private

Definition at line 82 of file vesc_driver.h.

CommandLimit vesc_driver::VescDriver::speed_limit_

private

Definition at line 70 of file vesc_driver.h.

ros::Subscriber vesc_driver::VescDriver::speed_sub_

private

Definition at line 80 of file vesc_driver.h.

ros::Publisher vesc_driver::VescDriver::state_pub_

private

Definition at line 75 of file vesc_driver.h.

ros::Timer vesc_driver::VescDriver::timer_

private

Definition at line 83 of file vesc_driver.h.

VescInterface vesc_driver::VescDriver::vesc_

private

Definition at line 52 of file vesc_driver.h.

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

• vesc_driver.h
• vesc_driver.cpp