TmcCoeBLDCMotor Class Reference

#include <tmc_coe_bldc_motor.h>

Inheritance diagram for TmcCoeBLDCMotor:

Public Member Functions
void	init () override
	TmcCoeBLDCMotor (ros::NodeHandle *p_nh, TmcCoeInterpreter *p_tmc_coe_interpreter, uint8_t slave_number, uint8_t motor_number)
	~TmcCoeBLDCMotor ()
Public Member Functions inherited from TmcCoeMotor
	TmcCoeMotor (ros::NodeHandle *p_nh, TmcCoeInterpreter *p_tmc_coe_interpreter, uint8_t slave_number, uint8_t motor_number)
virtual	~TmcCoeMotor ()

Private Member Functions
void	cmdAbsPosCallback (const std_msgs::Int32 msg) override
void	cmdRelPosCallback (const std_msgs::Int32 msg) override
void	cmdVelCallback (const geometry_msgs::Twist &msg) override
void	initSubscriber () override
void	rosPublishTmcCoeInfo (const ros::TimerEvent &event) override

Private Attributes
bldc_comm_mode_t	commutation_mode_
uint32_t	encoder_steps_
int32_t	position_scaler_

Additional Inherited Members
Protected Member Functions inherited from TmcCoeMotor
void	initPublisher ()
Protected Attributes inherited from TmcCoeMotor
std::string	frame_id_
uint8_t	motor_number_
ros::NodeHandle *	p_nh_
TmcCoeInterpreter *	p_tmc_coe_interpreter_
float	param_add_ratio_pos_
float	param_add_ratio_trq_
float	param_add_ratio_vel_
bool	param_en_pub_tmc_coe_info_
std::string	param_interface_name_
bool	param_pub_actual_pos_
bool	param_pub_actual_trq_
bool	param_pub_actual_vel_
float	param_pub_rate_tmc_coe_info_
int	param_SDO_PDO_retries_
std::string	param_tmc_cmd_abspos_topic_
std::string	param_tmc_cmd_relpos_topic_
std::string	param_tmc_cmd_trq_topic_
std::string	param_tmc_cmd_vel_topic_
std::string	param_tmc_coe_info_topic_
float	param_wheel_diameter_
std::string	s_namespace_
std::string	s_node_name_
uint32_t	seq_ctr_
uint8_t	slave_number_
ros::Timer	timer_callback_
ros::Subscriber	tmc_cmd_abspos_sub_
ros::Subscriber	tmc_cmd_relpos_sub_
ros::Subscriber	tmc_cmd_vel_sub_
adi_tmc_coe::TmcCoeInfo	tmc_coe_info_msg_
ros::Publisher	tmc_coe_info_pub_

Detailed Description

Definition at line 19 of file tmc_coe_bldc_motor.h.

Constructor & Destructor Documentation

TmcCoeBLDCMotor()

TmcCoeBLDCMotor::TmcCoeBLDCMotor	(	ros::NodeHandle *	p_nh,
		TmcCoeInterpreter *	p_tmc_coe_interpreter,
		uint8_t	slave_number,
		uint8_t	motor_number
	)

Copyright (c) 2024 Analog Devices, Inc. All Rights Reserved. This software is proprietary to Analog Devices, Inc. and its licensors.

Definition at line 11 of file tmc_coe_bldc_motor.cpp.

~TmcCoeBLDCMotor()

TmcCoeBLDCMotor::~TmcCoeBLDCMotor

(

)

Definition at line 19 of file tmc_coe_bldc_motor.cpp.

Member Function Documentation

cmdAbsPosCallback()

void TmcCoeBLDCMotor::cmdAbsPosCallback ( const std_msgs::Int32  msg )

overrideprivatevirtual

Reimplemented from TmcCoeMotor.

Definition at line 259 of file tmc_coe_bldc_motor.cpp.

cmdRelPosCallback()

void TmcCoeBLDCMotor::cmdRelPosCallback ( const std_msgs::Int32  msg )

overrideprivatevirtual

Reimplemented from TmcCoeMotor.

Definition at line 329 of file tmc_coe_bldc_motor.cpp.

cmdVelCallback()

void TmcCoeBLDCMotor::cmdVelCallback ( const geometry_msgs::Twist &  msg )

overrideprivatevirtual

Reimplemented from TmcCoeMotor.

Definition at line 205 of file tmc_coe_bldc_motor.cpp.

init()

void TmcCoeBLDCMotor::init ( )

overridevirtual

Reimplemented from TmcCoeMotor.

Definition at line 26 of file tmc_coe_bldc_motor.cpp.

initSubscriber()

void TmcCoeBLDCMotor::initSubscriber ( )

overrideprivatevirtual

Reimplemented from TmcCoeMotor.

Definition at line 182 of file tmc_coe_bldc_motor.cpp.

rosPublishTmcCoeInfo()

void TmcCoeBLDCMotor::rosPublishTmcCoeInfo ( const ros::TimerEvent &  event )

overrideprivatevirtual

Reimplemented from TmcCoeMotor.

Definition at line 102 of file tmc_coe_bldc_motor.cpp.

Member Data Documentation

commutation_mode_

bldc_comm_mode_t TmcCoeBLDCMotor::commutation_mode_

private

Definition at line 34 of file tmc_coe_bldc_motor.h.

encoder_steps_

uint32_t TmcCoeBLDCMotor::encoder_steps_

private

Definition at line 32 of file tmc_coe_bldc_motor.h.

position_scaler_

int32_t TmcCoeBLDCMotor::position_scaler_

private

Definition at line 33 of file tmc_coe_bldc_motor.h.

---

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

• tmc_coe_bldc_motor.h
• tmc_coe_bldc_motor.cpp