MotorMessage Class Reference

#include <motor_message.h>

Public Types
enum	ErrorCodes {   ERR_NONE = 0, ERR_DELIMITER = 1, ERR_WRONG_PROTOCOL = 2, ERR_BAD_CHECKSUM = 3,   ERR_BAD_TYPE = 4, ERR_UNKNOWN_REGISTER = 5 }
enum	HwOptions {   OPT_ENC_6_STATE = 0x01, OPT_WHEEL_TYPE_THIN = 0x02, OPT_WHEEL_DIR_REVERSE = 0x04, OPT_DRIVE_TYPE_4WD = 0x08,   OPT_WHEEL_TYPE_STANDARD = 0, OPT_DRIVE_TYPE_STANDARD = 0, OPT_WHEEL_DIR_STANDARD = 0 }
enum	Limits {   LIM_M1_PWM = 0x10, LIM_M2_PWM = 0x01, LIM_M1_INTEGRAL = 0x20, LIM_M2_INTEGRAL = 0x02,   LIM_M1_MAX_SPD = 0x40, LIM_M2_MAX_SPD = 0x4, LIM_PARAM_LIMIT = 0x80 }
enum	MessageTypes { TYPE_READ = 0xA, TYPE_WRITE = 0xB, TYPE_RESPONSE = 0xC, TYPE_ERROR = 0xD }
enum	PidControlActions {   PID_CTRL_NO_SPECIAL_MODES = 0x000, PID_CTRL_RESET = 0x001, PID_CTRL_PWM_OVERRIDE = 0x002, PID_CTRL_P_ONLY_ON_0_VEL = 0x004,   PID_CTRL_USE_ONLY_P_TERM = 0x008, PID_CTRL_SQUARED_ERROR = 0x010, PID_CTRL_CAP_POS_SETPOINT = 0x020, PID_CTRL_BOOST_P_TERM = 0x040,   PID_CTRL_BOOST_P_TURBO = 0x080, PID_CTRL_AUTOSHIFT_TO_SQUARED = 0x100, PID_CTRL_AUTOSHIFT_TO_BOOST_P = 0x200, PID_CTRL_USE_VELOCITY_TERM = 0x800 }
enum	Registers {   REG_STOP_START = 0x00, REG_BRAKE_STOP = 0x01, REG_SYSTEM_EVENTS = 0x02, REG_LEFT_PWM = 0x03,   REG_RIGHT_PWM = 0x04, REG_PWM_BOTH_WHLS = 0x07, REG_TINT_BOTH_WHLS = 0x08, REG_09 = 0x09,   REG_DRIVE_TYPE = 0x0A, REG_RIGHT_RAMP = 0x0A, REG_WHEEL_NULL_ERR = 0x0b, REG_WHEEL_DIR = 0x0C,   REG_DEADMAN = 0x0D, REG_LEFT_CURRENT = 0x0E, REG_RIGHT_CURRENT = 0x0F, REG_WHEEL_TYPE = 0x10,   REG_PID_ERROR_CAP = 0x11, REG_OPTION_SWITCH = 0x12, REG_PWM_OVERRIDE = 0x13, REG_PID_CONTROL = 0x14,   REG_PARAM_V_RDY = 0x15, REG_PARAM_P_RDY = 0x16, REG_PARAM_I_RDY = 0x17, REG_PARAM_D_RDY = 0x18,   REG_PARAM_C_RDY = 0x19, REG_PARAM_V = 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_MAINV_TPOINT = 0x25, REG_12V_MAIN_CURRENT = 0x26, REG_AUXV_TPOINT = 0x27, REG_BATT_VOL_LOW = 0x28,   REG_VBUF_SIZ = 0x29, REG_BOTH_SPEED_SET = 0x2A, REG_MOVING_BUF_SIZE = 0x2B, REG_LIMIT_REACHED = 0x2C,   REG_BOTH_ERROR = 0x2D, REG_BOTH_ODOM = 0x30, REG_ROBOT_ID = 0x31, REG_MOT_PWR_ACTIVE = 0x32,   REG_ESTOP_ENABLE = 0x33, REG_PID_MAX_ERROR = 0x34, REG_MAX_SPEED_FWD = 0x35, REG_MAX_SPEED_REV = 0x36,   REG_MAX_PWM = 0x37, REG_HW_OPTIONS = 0x38, REG_DEADZONE = 0x39, REG_FIRMWARE_DATE = 0x3a,   REG_STEST_REQUEST = 0x3b, REG_STEST_RESULTS = 0x3c, 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 }
enum	StestRequestAndResults {   STEST_IDLE = 0x00000000, STEST_MAINV = 0x00000001, STEST_AUXV = 0x00000002, STEST_BATTERY = 0x00000004,   STEST_BATTERY_LOW = 0x00000008, STEST_MOT_PWR = 0x00000080, STEST_MOTOR_AND_ENCS = 0x00000100, STEST_MOTOR_POWER_ON = 0x00000400,   STEST_M1_CURNT = 0x00001000, STEST_M2_CURNT = 0x00002000, STEST_MOT_M1_ENC = 0x00010000, STEST_MOT_M2_ENC = 0x00020000,   STEST_IN_PROGRESS = 0x00800000, STEST_STATE = (0xF << STEST_STATE_SHIFT) }
enum	SystemEvents { SYS_EVENT_POWERON = 0x00000001 }

Public Member Functions
MotorMessage::ErrorCodes	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 Public Attributes
const static uint8_t	delimeter = 0x7E
const static int32_t	MOT_POW_ACTIVE = 0x0001

Static Private Member Functions
static uint8_t	generateChecksum (const RawMotorMessage &data)
static uint8_t	generateChecksum (const std::vector< uint8_t > &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
const static uint8_t	protocol_version
const static uint8_t	valid_registers []
const static uint8_t	valid_types []

Detailed Description

Definition at line 67 of file motor_message.h.

Member Enumeration Documentation

ErrorCodes

enum MotorMessage::ErrorCodes

Enumerator
ERR_NONE
ERR_DELIMITER
ERR_WRONG_PROTOCOL
ERR_BAD_CHECKSUM
ERR_BAD_TYPE
ERR_UNKNOWN_REGISTER

Definition at line 256 of file motor_message.h.

HwOptions

enum MotorMessage::HwOptions

Enumerator
OPT_ENC_6_STATE
OPT_WHEEL_TYPE_THIN
OPT_WHEEL_DIR_REVERSE
OPT_DRIVE_TYPE_4WD
OPT_WHEEL_TYPE_STANDARD
OPT_DRIVE_TYPE_STANDARD
OPT_WHEEL_DIR_STANDARD

Definition at line 192 of file motor_message.h.

Limits

enum MotorMessage::Limits

Enumerator
LIM_M1_PWM
LIM_M2_PWM
LIM_M1_INTEGRAL
LIM_M2_INTEGRAL
LIM_M1_MAX_SPD
LIM_M2_MAX_SPD
LIM_PARAM_LIMIT

Definition at line 230 of file motor_message.h.

MessageTypes

enum MotorMessage::MessageTypes

Enumerator
TYPE_READ
TYPE_WRITE
TYPE_RESPONSE
TYPE_ERROR

Definition at line 74 of file motor_message.h.

PidControlActions

enum MotorMessage::PidControlActions

Enumerator
PID_CTRL_NO_SPECIAL_MODES
PID_CTRL_RESET
PID_CTRL_PWM_OVERRIDE
PID_CTRL_P_ONLY_ON_0_VEL
PID_CTRL_USE_ONLY_P_TERM
PID_CTRL_SQUARED_ERROR
PID_CTRL_CAP_POS_SETPOINT
PID_CTRL_BOOST_P_TERM
PID_CTRL_BOOST_P_TURBO
PID_CTRL_AUTOSHIFT_TO_SQUARED
PID_CTRL_AUTOSHIFT_TO_BOOST_P
PID_CTRL_USE_VELOCITY_TERM

Definition at line 176 of file motor_message.h.

Registers

enum MotorMessage::Registers

Enumerator
REG_STOP_START
REG_BRAKE_STOP
REG_SYSTEM_EVENTS
REG_LEFT_PWM
REG_RIGHT_PWM
REG_PWM_BOTH_WHLS
REG_TINT_BOTH_WHLS
REG_09
REG_DRIVE_TYPE
REG_RIGHT_RAMP
REG_WHEEL_NULL_ERR
REG_WHEEL_DIR
REG_DEADMAN
REG_LEFT_CURRENT
REG_RIGHT_CURRENT
REG_WHEEL_TYPE
REG_PID_ERROR_CAP
REG_OPTION_SWITCH
REG_PWM_OVERRIDE
REG_PID_CONTROL
REG_PARAM_V_RDY
REG_PARAM_P_RDY
REG_PARAM_I_RDY
REG_PARAM_D_RDY
REG_PARAM_C_RDY
REG_PARAM_V
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_MAINV_TPOINT
REG_12V_MAIN_CURRENT
REG_AUXV_TPOINT
REG_BATT_VOL_LOW
REG_VBUF_SIZ
REG_BOTH_SPEED_SET
REG_MOVING_BUF_SIZE
REG_LIMIT_REACHED
REG_BOTH_ERROR
REG_BOTH_ODOM
REG_ROBOT_ID
REG_MOT_PWR_ACTIVE
REG_ESTOP_ENABLE
REG_PID_MAX_ERROR
REG_MAX_SPEED_FWD
REG_MAX_SPEED_REV
REG_MAX_PWM
REG_HW_OPTIONS
REG_DEADZONE
REG_FIRMWARE_DATE
REG_STEST_REQUEST
REG_STEST_RESULTS
DEBUG_50
DEBUG_51
DEBUG_52
DEBUG_53
DEBUG_54
DEBUG_55
DEBUG_56
DEBUG_57
DEBUG_58

Definition at line 82 of file motor_message.h.

StestRequestAndResults

enum MotorMessage::StestRequestAndResults

Enumerator
STEST_IDLE
STEST_MAINV
STEST_AUXV
STEST_BATTERY
STEST_BATTERY_LOW
STEST_MOT_PWR
STEST_MOTOR_AND_ENCS
STEST_MOTOR_POWER_ON
STEST_M1_CURNT
STEST_M2_CURNT
STEST_MOT_M1_ENC
STEST_MOT_M2_ENC
STEST_IN_PROGRESS
STEST_STATE

Definition at line 206 of file motor_message.h.

SystemEvents

enum MotorMessage::SystemEvents

Enumerator
SYS_EVENT_POWERON

Definition at line 225 of file motor_message.h.

Constructor & Destructor Documentation

MotorMessage()

MotorMessage::MotorMessage ( )

inline

Definition at line 70 of file motor_message.h.

~MotorMessage()

MotorMessage::~MotorMessage ( )

inline

Definition at line 71 of file motor_message.h.

Member Function Documentation

deserialize()

MotorMessage::ErrorCodes MotorMessage::deserialize

(

const RawMotorMessage &

serialized

)

Definition at line 151 of file motor_message.cc.

generateChecksum() [1/2]

uint8_t MotorMessage::generateChecksum ( const RawMotorMessage &  data )

staticprivate

Definition at line 200 of file motor_message.cc.

generateChecksum() [2/2]

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

staticprivate

getData()

int32_t MotorMessage::getData

(

)

const

Definition at line 135 of file motor_message.cc.

getRegister()

MotorMessage::Registers MotorMessage::getRegister

(

)

const

Definition at line 122 of file motor_message.cc.

getType()

MotorMessage::MessageTypes MotorMessage::getType

(

)

const

Definition at line 112 of file motor_message.cc.

serialize()

RawMotorMessage MotorMessage::serialize

(

)

const

Definition at line 141 of file motor_message.cc.

setData()

void MotorMessage::setData

(

int32_t

data

)

Definition at line 126 of file motor_message.cc.

setRegister()

void MotorMessage::setRegister

(

MotorMessage::Registers

reg

)

Definition at line 116 of file motor_message.cc.

setType()

void MotorMessage::setType

(

MotorMessage::MessageTypes

type

)

Definition at line 106 of file motor_message.cc.

verifyRegister()

int MotorMessage::verifyRegister ( uint8_t  r )

staticprivate

Definition at line 190 of file motor_message.cc.

verifyType()

int MotorMessage::verifyType ( uint8_t  t )

staticprivate

Definition at line 181 of file motor_message.cc.

Member Data Documentation

data

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

private

Definition at line 276 of file motor_message.h.

delimeter

const static uint8_t MotorMessage::delimeter = 0x7E

static

Definition at line 267 of file motor_message.h.

MOT_POW_ACTIVE

const static int32_t MotorMessage::MOT_POW_ACTIVE = 0x0001

static

Definition at line 241 of file motor_message.h.

protocol_version

const static uint8_t MotorMessage::protocol_version

staticprivate

Initial value:

=
        0x03

Definition at line 278 of file motor_message.h.

register_addr

uint8_t MotorMessage::register_addr

private

Definition at line 273 of file motor_message.h.

type

uint8_t MotorMessage::type

private

Definition at line 271 of file motor_message.h.

valid_registers

const uint8_t MotorMessage::valid_registers

staticprivate

Definition at line 282 of file motor_message.h.

valid_types

const uint8_t MotorMessage::valid_types

staticprivate

Initial value:

= {TYPE_READ, TYPE_WRITE,
                                             TYPE_RESPONSE, TYPE_ERROR}

Copyright (c) 2016, Ubiquity Robotics All rights reserved.

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 281 of file motor_message.h.

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

• motor_message.h
• motor_message.cc