BLDCMotor Class Reference

#include <tmcl_bldc_motor.h>

Inheritance diagram for BLDCMotor:

Public Member Functions
	BLDCMotor (ros::NodeHandle *p_nh, TmclInterpreter *p_tmcl_interpreter, uint16_t module_number, uint8_t motor_number)
void	init () override
	~BLDCMotor () override
Public Member Functions inherited from Motor
	Motor (ros::NodeHandle *p_nh, TmclInterpreter *p_tmcl_interpreter, uint16_t module_number, uint8_t motor_number)
virtual	~Motor ()

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	rosPublishTmcInfo (const ros::TimerEvent &event) override

Private Attributes
bool	b_statusflags_register_available_
bldc_comm_mode_t	comm_mode_
int32_t	encoder_steps_
std::vector< std::string >	param_statusflags_reg_name_
std::vector< int >	param_statusflags_reg_shift_
int32_t	position_scaler_

Additional Inherited Members
Protected Member Functions inherited from Motor
virtual void	cmdTrqCallback (const std_msgs::Int32 msg)
void	initPublisher ()
Protected Attributes inherited from Motor
std::string	frame_id_
uint16_t	module_number_
uint8_t	motor_number_
ros::NodeHandle *	p_nh_
TmclInterpreter *	p_tmcl_interpreter_
float	param_add_ratio_pos_
float	param_add_ratio_trq_
float	param_add_ratio_vel_
std::string	param_comm_interface_name_
bool	param_en_pub_tmc_info_
bool	param_pub_actual_pos_
bool	param_pub_actual_trq_
bool	param_pub_actual_vel_
float	param_pub_rate_tmc_info_
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_info_topic_
float	param_wheel_diameter_
std::string	s_namespace_
std::string	s_node_name_
uint32_t	seq_ctr_
ros::Timer	timer_callback_
ros::Subscriber	tmc_cmd_abspos_sub_
ros::Subscriber	tmc_cmd_relpos_sub_
ros::Subscriber	tmc_cmd_trq_sub_
ros::Subscriber	tmc_cmd_vel_sub_
adi_tmcl::TmcInfo	tmc_info_msg_
ros::Publisher	tmc_info_pub_

Detailed Description

Definition at line 20 of file tmcl_bldc_motor.h.

Constructor & Destructor Documentation

BLDCMotor()

BLDCMotor::BLDCMotor	(	ros::NodeHandle *	p_nh,
		TmclInterpreter *	p_tmcl_interpreter,
		uint16_t	module_number,
		uint8_t	motor_number
	)

Copyright (c) 2023 Analog Devices, Inc. All Rights Reserved. This software is proprietary to Analog Devices, Inc. and its licensors.

Definition at line 11 of file tmcl_bldc_motor.cpp.

~BLDCMotor()

BLDCMotor::~BLDCMotor ( )

override

Definition at line 43 of file tmcl_bldc_motor.cpp.

Member Function Documentation

cmdAbsPosCallback()

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

overrideprivatevirtual

Reimplemented from Motor.

Definition at line 316 of file tmcl_bldc_motor.cpp.

cmdRelPosCallback()

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

overrideprivatevirtual

Reimplemented from Motor.

Definition at line 351 of file tmcl_bldc_motor.cpp.

cmdVelCallback()

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

overrideprivatevirtual

Reimplemented from Motor.

Definition at line 273 of file tmcl_bldc_motor.cpp.

init()

void BLDCMotor::init ( )

overridevirtual

Reimplemented from Motor.

Definition at line 48 of file tmcl_bldc_motor.cpp.

initSubscriber()

void BLDCMotor::initSubscriber ( )

overrideprivatevirtual

Reimplemented from Motor.

Definition at line 253 of file tmcl_bldc_motor.cpp.

rosPublishTmcInfo()

void BLDCMotor::rosPublishTmcInfo ( const ros::TimerEvent &  event )

overrideprivatevirtual

Reimplemented from Motor.

Definition at line 111 of file tmcl_bldc_motor.cpp.

Member Data Documentation

b_statusflags_register_available_

bool BLDCMotor::b_statusflags_register_available_

private

Definition at line 45 of file tmcl_bldc_motor.h.

comm_mode_

bldc_comm_mode_t BLDCMotor::comm_mode_

private

Definition at line 49 of file tmcl_bldc_motor.h.

encoder_steps_

int32_t BLDCMotor::encoder_steps_

private

Definition at line 44 of file tmcl_bldc_motor.h.

param_statusflags_reg_name_

std::vector<std::string> BLDCMotor::param_statusflags_reg_name_

private

Definition at line 46 of file tmcl_bldc_motor.h.

param_statusflags_reg_shift_

std::vector<int> BLDCMotor::param_statusflags_reg_shift_

private

Definition at line 47 of file tmcl_bldc_motor.h.

position_scaler_

int32_t BLDCMotor::position_scaler_

private

Definition at line 43 of file tmcl_bldc_motor.h.

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

• tmcl_bldc_motor.h
• tmcl_bldc_motor.cpp