vesc_driver::VescInterface Class Reference

#include <vesc_interface.h>

Classes
class	Impl

Public Types
typedef std::function< void(const std::string &)>	ErrorHandlerFunction
typedef std::function< void(const VescPacketConstPtr &)>	PacketHandlerFunction

Public Member Functions
void	connect (const std::string &port)
void	disconnect ()
bool	isConnected () const
VescInterface &	operator= (const VescInterface &)=delete
void	requestFWVersion ()
void	requestState ()
void	send (const VescPacket &packet)
void	setBrake (double brake)
void	setCurrent (double current)
void	setDutyCycle (double duty_cycle)
void	setErrorHandler (const ErrorHandlerFunction &handler)
void	setPacketHandler (const PacketHandlerFunction &handler)
void	setPosition (double position)
void	setServo (double servo)
void	setSpeed (double speed)
	VescInterface (const std::string &port=std::string(), const PacketHandlerFunction &packet_handler=PacketHandlerFunction(), const ErrorHandlerFunction &error_handler=ErrorHandlerFunction())
	VescInterface (const VescInterface &)=delete
	~VescInterface ()

Private Attributes
std::unique_ptr< Impl >	impl_

Detailed Description

Class providing an interface to the Vedder VESC motor controller via a serial port interface.

Definition at line 46 of file vesc_interface.h.

Member Typedef Documentation

typedef std::function<void (const std::string&)> vesc_driver::VescInterface::ErrorHandlerFunction

Definition at line 50 of file vesc_interface.h.

typedef std::function<void (const VescPacketConstPtr&)> vesc_driver::VescInterface::PacketHandlerFunction

Definition at line 49 of file vesc_interface.h.

Constructor & Destructor Documentation

vesc_driver::VescInterface::VescInterface	(	const std::string &	port = std::string(),
		const PacketHandlerFunction &	packet_handler = PacketHandlerFunction(),
		const ErrorHandlerFunction &	error_handler = ErrorHandlerFunction()
	)

Creates a VescInterface object. Opens the serial port interface to the VESC if port is not empty, otherwise the serial port remains closed until connect() is called.

Parameters

port	Address of the serial port, e.g. '/dev/ttyUSB0'.
packet_handler	Function this class calls when a VESC packet is received.
error_handler	Function this class calls when an error is detected, such as a bad checksum.

Exceptions

SerialException

Definition at line 151 of file vesc_interface.cpp.

vesc_driver::VescInterface::VescInterface ( const VescInterface &  )

delete

Delete copy constructor and equals operator.

vesc_driver::VescInterface::~VescInterface

(

)

VescInterface destructor.

Definition at line 163 of file vesc_interface.cpp.

Member Function Documentation

void vesc_driver::VescInterface::connect

(

const std::string &

port

)

Opens the serial port interface to the VESC.

Exceptions

SerialException

Definition at line 180 of file vesc_interface.cpp.

void vesc_driver::VescInterface::disconnect

(

)

Closes the serial port interface to the VESC.

Definition at line 207 of file vesc_interface.cpp.

bool vesc_driver::VescInterface::isConnected

(

)

const

Gets the status of the serial interface to the VESC.

Returns

Returns true if the serial port is open, false otherwise.

Definition at line 220 of file vesc_interface.cpp.

VescInterface& vesc_driver::VescInterface::operator= ( const VescInterface &  )

delete

void vesc_driver::VescInterface::requestFWVersion

(

)

Definition at line 236 of file vesc_interface.cpp.

void vesc_driver::VescInterface::requestState

(

)

Definition at line 241 of file vesc_interface.cpp.

void vesc_driver::VescInterface::send

(

const VescPacket &

packet

)

Send a VESC packet.

Definition at line 225 of file vesc_interface.cpp.

void vesc_driver::VescInterface::setBrake

(

double

brake

)

Definition at line 256 of file vesc_interface.cpp.

void vesc_driver::VescInterface::setCurrent

(

double

current

)

Definition at line 251 of file vesc_interface.cpp.

void vesc_driver::VescInterface::setDutyCycle

(

double

duty_cycle

)

Definition at line 246 of file vesc_interface.cpp.

void vesc_driver::VescInterface::setErrorHandler

(

const ErrorHandlerFunction &

handler

)

Sets / updates the function that this class calls when an error is detected, such as a bad checksum.

Definition at line 174 of file vesc_interface.cpp.

void vesc_driver::VescInterface::setPacketHandler

(

const PacketHandlerFunction &

handler

)

Sets / updates the function that this class calls when a VESC packet is received.

Definition at line 168 of file vesc_interface.cpp.

void vesc_driver::VescInterface::setPosition

(

double

position

)

Definition at line 266 of file vesc_interface.cpp.

void vesc_driver::VescInterface::setServo

(

double

servo

)

Definition at line 271 of file vesc_interface.cpp.

void vesc_driver::VescInterface::setSpeed

(

double

speed

)

Definition at line 261 of file vesc_interface.cpp.

Member Data Documentation

std::unique_ptr<Impl> vesc_driver::VescInterface::impl_

private

Definition at line 124 of file vesc_interface.h.

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

• vesc_interface.h
• vesc_interface.cpp