#include <motor_hardware.h>

Public Member Functions
void	battery_status (diagnostic_updater::DiagnosticStatusWrapper &stat)

void	firmware_date_status (diagnostic_updater::DiagnosticStatusWrapper &stat)

void	firmware_options_status (diagnostic_updater::DiagnosticStatusWrapper &stat)

void	firmware_status (diagnostic_updater::DiagnosticStatusWrapper &stat)

void	limit_status (diagnostic_updater::DiagnosticStatusWrapper &stat)

void	motor_max_pwm_status (diagnostic_updater::DiagnosticStatusWrapper &stat)

void	motor_pid_d_status (diagnostic_updater::DiagnosticStatusWrapper &stat)

void	motor_pid_i_status (diagnostic_updater::DiagnosticStatusWrapper &stat)

void	motor_pid_p_status (diagnostic_updater::DiagnosticStatusWrapper &stat)

void	motor_pid_v_status (diagnostic_updater::DiagnosticStatusWrapper &stat)

void	motor_power_status (diagnostic_updater::DiagnosticStatusWrapper &stat)

	MotorDiagnostics ()

Public Attributes
float	battery_voltage = 0.0

float	battery_voltage_critical = 21.0

float	battery_voltage_low_level = 22.5

bool	estop_motor_power_off = false

int	firmware_date = 0

int	firmware_options = 0

int	firmware_version = 0

int	fw_max_pwm = 0

int	fw_pid_control = 0

int	fw_pid_denominator = 0

int	fw_pid_derivative = 0

int	fw_pid_integral = 0

int	fw_pid_moving_buffer_size = 0

int	fw_pid_proportional = 0

int	fw_pid_velocity = 0

bool	left_integral_limit = false

bool	left_max_speed_limit = false

bool	left_pwm_limit = false

double	motorAmpsZeroAdcCount = 1015

double	motorCurrentLeft = 0.0

double	motorCurrentRight = 0.0

int	motorPwmDriveLeft = 0

int	motorPwmDriveRight = 0

double	odom_max_freq = 1000

double	odom_min_freq = 50

diagnostic_updater::FrequencyStatus	odom_update_status

bool	param_limit_in_firmware = false

bool	right_integral_limit = false

bool	right_max_speed_limit = false

bool	right_pwm_limit = false

Detailed Description

Definition at line 59 of file motor_hardware.h.

Constructor & Destructor Documentation

◆ MotorDiagnostics()

MotorDiagnostics::MotorDiagnostics ( )

inline

Definition at line 60 of file motor_hardware.h.

Member Function Documentation

◆ battery_status()

void MotorDiagnostics::battery_status ( diagnostic_updater::DiagnosticStatusWrapper & stat )

Definition at line 1205 of file motor_hardware.cc.

◆ firmware_date_status()

void MotorDiagnostics::firmware_date_status ( diagnostic_updater::DiagnosticStatusWrapper & stat )

Definition at line 1157 of file motor_hardware.cc.

◆ firmware_options_status()

void MotorDiagnostics::firmware_options_status ( diagnostic_updater::DiagnosticStatusWrapper & stat )

Definition at line 1253 of file motor_hardware.cc.

◆ firmware_status()

void MotorDiagnostics::firmware_status ( diagnostic_updater::DiagnosticStatusWrapper & stat )

Definition at line 1144 of file motor_hardware.cc.

◆ limit_status()

void MotorDiagnostics::limit_status ( diagnostic_updater::DiagnosticStatusWrapper & stat )

Definition at line 1172 of file motor_hardware.cc.

◆ motor_max_pwm_status()

void MotorDiagnostics::motor_max_pwm_status ( diagnostic_updater::DiagnosticStatusWrapper & stat )

Definition at line 1235 of file motor_hardware.cc.

◆ motor_pid_d_status()

void MotorDiagnostics::motor_pid_d_status ( diagnostic_updater::DiagnosticStatusWrapper & stat )

Definition at line 1227 of file motor_hardware.cc.

◆ motor_pid_i_status()

void MotorDiagnostics::motor_pid_i_status ( diagnostic_updater::DiagnosticStatusWrapper & stat )

Definition at line 1223 of file motor_hardware.cc.

◆ motor_pid_p_status()

void MotorDiagnostics::motor_pid_p_status ( diagnostic_updater::DiagnosticStatusWrapper & stat )

Definition at line 1219 of file motor_hardware.cc.

◆ motor_pid_v_status()

void MotorDiagnostics::motor_pid_v_status ( diagnostic_updater::DiagnosticStatusWrapper & stat )

Definition at line 1231 of file motor_hardware.cc.

◆ motor_power_status()

void MotorDiagnostics::motor_power_status ( diagnostic_updater::DiagnosticStatusWrapper & stat )

Definition at line 1241 of file motor_hardware.cc.

Member Data Documentation

◆ battery_voltage

float MotorDiagnostics::battery_voltage = 0.0

Definition at line 92 of file motor_hardware.h.

◆ battery_voltage_critical

float MotorDiagnostics::battery_voltage_critical = 21.0

Definition at line 94 of file motor_hardware.h.

◆ battery_voltage_low_level

float MotorDiagnostics::battery_voltage_low_level = 22.5

Definition at line 93 of file motor_hardware.h.

◆ estop_motor_power_off

bool MotorDiagnostics::estop_motor_power_off = false

Definition at line 118 of file motor_hardware.h.

◆ firmware_date

int MotorDiagnostics::firmware_date = 0

Definition at line 65 of file motor_hardware.h.

◆ firmware_options

int MotorDiagnostics::firmware_options = 0

Definition at line 66 of file motor_hardware.h.

◆ firmware_version

int MotorDiagnostics::firmware_version = 0

Definition at line 64 of file motor_hardware.h.

◆ fw_max_pwm

int MotorDiagnostics::fw_max_pwm = 0

Definition at line 76 of file motor_hardware.h.

◆ fw_pid_control

int MotorDiagnostics::fw_pid_control = 0

Definition at line 72 of file motor_hardware.h.

◆ fw_pid_denominator

int MotorDiagnostics::fw_pid_denominator = 0

Definition at line 74 of file motor_hardware.h.

◆ fw_pid_derivative

int MotorDiagnostics::fw_pid_derivative = 0

Definition at line 71 of file motor_hardware.h.

◆ fw_pid_integral

int MotorDiagnostics::fw_pid_integral = 0

Definition at line 70 of file motor_hardware.h.

◆ fw_pid_moving_buffer_size

int MotorDiagnostics::fw_pid_moving_buffer_size = 0

Definition at line 75 of file motor_hardware.h.

◆ fw_pid_proportional

int MotorDiagnostics::fw_pid_proportional = 0

Definition at line 69 of file motor_hardware.h.

◆ fw_pid_velocity

int MotorDiagnostics::fw_pid_velocity = 0

Definition at line 73 of file motor_hardware.h.

◆ left_integral_limit

bool MotorDiagnostics::left_integral_limit = false

Definition at line 85 of file motor_hardware.h.

◆ left_max_speed_limit

bool MotorDiagnostics::left_max_speed_limit = false

Definition at line 87 of file motor_hardware.h.

◆ left_pwm_limit

bool MotorDiagnostics::left_pwm_limit = false

Definition at line 83 of file motor_hardware.h.

◆ motorAmpsZeroAdcCount

double MotorDiagnostics::motorAmpsZeroAdcCount = 1015

Definition at line 102 of file motor_hardware.h.

◆ motorCurrentLeft

double MotorDiagnostics::motorCurrentLeft = 0.0

Definition at line 97 of file motor_hardware.h.

◆ motorCurrentRight

double MotorDiagnostics::motorCurrentRight = 0.0

Definition at line 98 of file motor_hardware.h.

◆ motorPwmDriveLeft

int MotorDiagnostics::motorPwmDriveLeft = 0

Definition at line 104 of file motor_hardware.h.

◆ motorPwmDriveRight

int MotorDiagnostics::motorPwmDriveRight = 0

Definition at line 105 of file motor_hardware.h.

◆ odom_max_freq

double MotorDiagnostics::odom_max_freq = 1000

Definition at line 78 of file motor_hardware.h.

◆ odom_min_freq

double MotorDiagnostics::odom_min_freq = 50

Definition at line 79 of file motor_hardware.h.

◆ odom_update_status

diagnostic_updater::FrequencyStatus MotorDiagnostics::odom_update_status

Definition at line 80 of file motor_hardware.h.

◆ param_limit_in_firmware

bool MotorDiagnostics::param_limit_in_firmware = false

Definition at line 89 of file motor_hardware.h.

◆ right_integral_limit

bool MotorDiagnostics::right_integral_limit = false

Definition at line 86 of file motor_hardware.h.

◆ right_max_speed_limit

bool MotorDiagnostics::right_max_speed_limit = false

Definition at line 88 of file motor_hardware.h.

◆ right_pwm_limit

bool MotorDiagnostics::right_pwm_limit = false

Definition at line 84 of file motor_hardware.h.

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

Public Member Functions

Public Attributes