MotorModel Class Reference

#include <motor_model.h>

Inheritance diagram for MotorModel:

Classes
class	Filter
class	SimpleFilter

Public Member Functions
void	checkPublish ()
	Publishes motor trace if delay time is up. More...
void	diagnostics (diagnostic_updater::DiagnosticStatusWrapper &d)
	Collects and publishes device diagnostics. More...
void	flagPublish (const std::string &reason, int level, int delay)
	flags delayed publish of motor trace. More...
bool	initialize (const ethercat_hardware::ActuatorInfo &actuator_info, const ethercat_hardware::BoardInfo &board_info)
	Initializes motor trace publisher. More...
	MotorModel (unsigned trace_size)
void	reset ()
void	sample (const ethercat_hardware::MotorTraceSample &s)
	Call for each update. More...
bool	verify ()
	Check for errors between sample data and motor model. More...

Protected Attributes
Filter	abs_board_voltage_
Filter	abs_current_error_
Filter	abs_measured_current_
Filter	abs_measured_voltage_error_
Filter	abs_motor_voltage_error_
Filter	abs_position_delta_
Filter	abs_velocity_
ethercat_hardware::ActuatorInfo	actuator_info_
double	backemf_constant_
ethercat_hardware::BoardInfo	board_info_
Filter	current_error_
double	current_error_limit_
int	diagnostics_level_
boost::mutex	diagnostics_mutex_
std::string	diagnostics_reason_
Filter	measured_voltage_error_
SimpleFilter	motor_resistance_
Filter	motor_voltage_error_
bool	previous_pwm_saturated_
int	publish_delay_
int	publish_level_
std::string	publish_reason_
unsigned	published_traces_
realtime_tools::RealtimePublisher< ethercat_hardware::MotorTrace > *	publisher_
std::vector< ethercat_hardware::MotorTraceSample >	trace_buffer_
unsigned	trace_index_
unsigned	trace_size_

Detailed Description

Definition at line 20 of file motor_model.h.

Constructor & Destructor Documentation

MotorModel::MotorModel

(

unsigned

trace_size

)

Definition at line 6 of file motor_model.cpp.

Member Function Documentation

void MotorModel::checkPublish

(

)

Publishes motor trace if delay time is up.

Definition at line 87 of file motor_model.cpp.

void MotorModel::diagnostics

(

diagnostic_updater::DiagnosticStatusWrapper &

d

)

Collects and publishes device diagnostics.

Definition at line 143 of file motor_model.cpp.

void MotorModel::flagPublish	(	const std::string &	reason,
		int	level,
		int	delay
	)

flags delayed publish of motor trace.

New publish will only take precedence of previous publish iff level is higher than previous level

Definition at line 125 of file motor_model.cpp.

bool MotorModel::initialize	(	const ethercat_hardware::ActuatorInfo &	actuator_info,
		const ethercat_hardware::BoardInfo &	board_info
	)

Initializes motor trace publisher.

Definition at line 53 of file motor_model.cpp.

void MotorModel::reset

(

)

Definition at line 27 of file motor_model.cpp.

void MotorModel::sample

(

const ethercat_hardware::MotorTraceSample &

s

)

Call for each update.

Adds sample to motor model. Also, adds sample to motor trace.

Definition at line 198 of file motor_model.cpp.

bool MotorModel::verify

(

)

Check for errors between sample data and motor model.

Parameters

reason	string is filled in when error or warning occurs
level	filled in with 2 (ERROR) or 1 (WARN).

Returns

returns false if motor should halt

Definition at line 313 of file motor_model.cpp.

Member Data Documentation

Filter MotorModel::abs_board_voltage_

protected

Definition at line 89 of file motor_model.h.

Filter MotorModel::abs_current_error_

protected

Definition at line 83 of file motor_model.h.

Filter MotorModel::abs_measured_current_

protected

Definition at line 88 of file motor_model.h.

Filter MotorModel::abs_measured_voltage_error_

protected

Definition at line 81 of file motor_model.h.

Filter MotorModel::abs_motor_voltage_error_

protected

Definition at line 79 of file motor_model.h.

Filter MotorModel::abs_position_delta_

protected

Definition at line 90 of file motor_model.h.

Filter MotorModel::abs_velocity_

protected

Definition at line 87 of file motor_model.h.

ethercat_hardware::ActuatorInfo MotorModel::actuator_info_

protected

Definition at line 36 of file motor_model.h.

double MotorModel::backemf_constant_

protected

Definition at line 38 of file motor_model.h.

ethercat_hardware::BoardInfo MotorModel::board_info_

protected

Definition at line 37 of file motor_model.h.

Filter MotorModel::current_error_

protected

Definition at line 82 of file motor_model.h.

double MotorModel::current_error_limit_

protected

Definition at line 42 of file motor_model.h.

int MotorModel::diagnostics_level_

protected

Definition at line 48 of file motor_model.h.

boost::mutex MotorModel::diagnostics_mutex_

protected

Definition at line 77 of file motor_model.h.

std::string MotorModel::diagnostics_reason_

protected

Definition at line 49 of file motor_model.h.

Filter MotorModel::measured_voltage_error_

protected

Definition at line 80 of file motor_model.h.

SimpleFilter MotorModel::motor_resistance_

protected

Definition at line 84 of file motor_model.h.

Filter MotorModel::motor_voltage_error_

protected

Definition at line 78 of file motor_model.h.

bool MotorModel::previous_pwm_saturated_

protected

Definition at line 39 of file motor_model.h.

int MotorModel::publish_delay_

protected

Definition at line 43 of file motor_model.h.

int MotorModel::publish_level_

protected

Definition at line 44 of file motor_model.h.

std::string MotorModel::publish_reason_

protected

Definition at line 45 of file motor_model.h.

unsigned MotorModel::published_traces_

protected

Definition at line 35 of file motor_model.h.

realtime_tools::RealtimePublisher<ethercat_hardware::MotorTrace>* MotorModel::publisher_

protected

Definition at line 41 of file motor_model.h.

std::vector<ethercat_hardware::MotorTraceSample> MotorModel::trace_buffer_

protected

Definition at line 40 of file motor_model.h.

unsigned MotorModel::trace_index_

protected

Definition at line 34 of file motor_model.h.

unsigned MotorModel::trace_size_

protected

Definition at line 33 of file motor_model.h.

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

• motor_model.h
• motor_model.cpp