#include <tmcl_motor.h>

Inheritance diagram for Motor:

Public Member Functions
virtual void	init ()

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

virtual	~Motor ()

Protected Member Functions
virtual void	cmdAbsPosCallback (const std_msgs::Int32 msg)

virtual void	cmdRelPosCallback (const std_msgs::Int32 msg)

virtual void	cmdTrqCallback (const std_msgs::Int32 msg)

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

void	initPublisher ()

virtual void	initSubscriber ()

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

Protected Attributes
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_

Private Member Functions
void	initParams ()

Detailed Description

Definition at line 26 of file tmcl_motor.h.

Constructor & Destructor Documentation

◆ Motor()

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

Definition at line 11 of file tmcl_motor.cpp.

◆ ~Motor()

Motor::~Motor ( )

virtual

Definition at line 23 of file tmcl_motor.cpp.

Member Function Documentation

◆ cmdAbsPosCallback()

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

protectedvirtual

Reimplemented in BLDCMotor, and StepperMotor.

Definition at line 326 of file tmcl_motor.cpp.

◆ cmdRelPosCallback()

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

protectedvirtual

Reimplemented in BLDCMotor, and StepperMotor.

Definition at line 344 of file tmcl_motor.cpp.

◆ cmdTrqCallback()

void Motor::cmdTrqCallback ( const std_msgs::Int32 msg )

protectedvirtual

Reimplemented in StepperMotor.

Definition at line 362 of file tmcl_motor.cpp.

◆ cmdVelCallback()

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

protectedvirtual

Reimplemented in BLDCMotor, and StepperMotor.

Definition at line 292 of file tmcl_motor.cpp.

◆ init()

void Motor::init ( )

virtual

Reimplemented in BLDCMotor, and StepperMotor.

Definition at line 30 of file tmcl_motor.cpp.

◆ initParams()

void Motor::initParams ( )

private

Definition at line 40 of file tmcl_motor.cpp.

◆ initPublisher()

void Motor::initPublisher ( )

protected

Definition at line 167 of file tmcl_motor.cpp.

◆ initSubscriber()

void Motor::initSubscriber ( )

protectedvirtual

Reimplemented in BLDCMotor, and StepperMotor.

Definition at line 281 of file tmcl_motor.cpp.

◆ rosPublishTmcInfo()

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

protectedvirtual

Reimplemented in BLDCMotor, and StepperMotor.

Definition at line 204 of file tmcl_motor.cpp.

Member Data Documentation

◆ frame_id_

std::string Motor::frame_id_

protected

Definition at line 70 of file tmcl_motor.h.

◆ module_number_

uint16_t Motor::module_number_

protected

Definition at line 71 of file tmcl_motor.h.

◆ motor_number_

uint8_t Motor::motor_number_

protected

Definition at line 72 of file tmcl_motor.h.

◆ p_nh_

ros::NodeHandle* Motor::p_nh_

protected

Definition at line 63 of file tmcl_motor.h.

◆ p_tmcl_interpreter_

TmclInterpreter* Motor::p_tmcl_interpreter_

protected

Definition at line 64 of file tmcl_motor.h.

◆ param_add_ratio_pos_

float Motor::param_add_ratio_pos_

protected

Definition at line 84 of file tmcl_motor.h.

◆ param_add_ratio_trq_

float Motor::param_add_ratio_trq_

protected

Definition at line 85 of file tmcl_motor.h.

◆ param_add_ratio_vel_

float Motor::param_add_ratio_vel_

protected

Definition at line 83 of file tmcl_motor.h.

◆ param_comm_interface_name_

std::string Motor::param_comm_interface_name_

protected

Definition at line 67 of file tmcl_motor.h.

◆ param_en_pub_tmc_info_

bool Motor::param_en_pub_tmc_info_

protected

Definition at line 48 of file tmcl_motor.h.

◆ param_pub_actual_pos_

bool Motor::param_pub_actual_pos_

protected

Definition at line 80 of file tmcl_motor.h.

◆ param_pub_actual_trq_

bool Motor::param_pub_actual_trq_

protected

Definition at line 81 of file tmcl_motor.h.

◆ param_pub_actual_vel_

bool Motor::param_pub_actual_vel_

protected

Definition at line 79 of file tmcl_motor.h.

◆ param_pub_rate_tmc_info_

float Motor::param_pub_rate_tmc_info_

protected

Definition at line 46 of file tmcl_motor.h.

◆ param_tmc_cmd_abspos_topic_

std::string Motor::param_tmc_cmd_abspos_topic_

protected

Definition at line 76 of file tmcl_motor.h.

◆ param_tmc_cmd_relpos_topic_

std::string Motor::param_tmc_cmd_relpos_topic_

protected

Definition at line 77 of file tmcl_motor.h.

◆ param_tmc_cmd_trq_topic_

std::string Motor::param_tmc_cmd_trq_topic_

protected

Definition at line 78 of file tmcl_motor.h.

◆ param_tmc_cmd_vel_topic_

std::string Motor::param_tmc_cmd_vel_topic_

protected

Definition at line 75 of file tmcl_motor.h.

◆ param_tmc_info_topic_

std::string Motor::param_tmc_info_topic_

protected

Definition at line 47 of file tmcl_motor.h.

◆ param_wheel_diameter_

float Motor::param_wheel_diameter_

protected

Definition at line 82 of file tmcl_motor.h.

◆ s_namespace_

std::string Motor::s_namespace_

protected

Definition at line 69 of file tmcl_motor.h.

◆ s_node_name_

std::string Motor::s_node_name_

protected

Definition at line 68 of file tmcl_motor.h.

◆ seq_ctr_

uint32_t Motor::seq_ctr_

protected

Definition at line 49 of file tmcl_motor.h.

◆ timer_callback_

ros::Timer Motor::timer_callback_

protected

Definition at line 43 of file tmcl_motor.h.

◆ tmc_cmd_abspos_sub_

ros::Subscriber Motor::tmc_cmd_abspos_sub_

protected

Definition at line 58 of file tmcl_motor.h.

◆ tmc_cmd_relpos_sub_

ros::Subscriber Motor::tmc_cmd_relpos_sub_

protected

Definition at line 59 of file tmcl_motor.h.

◆ tmc_cmd_trq_sub_

ros::Subscriber Motor::tmc_cmd_trq_sub_

protected

Definition at line 60 of file tmcl_motor.h.

◆ tmc_cmd_vel_sub_

ros::Subscriber Motor::tmc_cmd_vel_sub_

protected

Definition at line 57 of file tmcl_motor.h.

◆ tmc_info_msg_

adi_tmcl::TmcInfo Motor::tmc_info_msg_

protected

Definition at line 45 of file tmcl_motor.h.

◆ tmc_info_pub_

ros::Publisher Motor::tmc_info_pub_

protected

Definition at line 44 of file tmcl_motor.h.

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

Public Member Functions

Protected Member Functions

Protected Attributes

Private Member Functions

Detailed Description

Constructor & Destructor Documentation

◆ Motor()

◆ ~Motor()

Member Function Documentation

◆ cmdAbsPosCallback()

◆ cmdRelPosCallback()

◆ cmdTrqCallback()

◆ cmdVelCallback()

◆ init()

◆ initParams()

◆ initPublisher()

◆ initSubscriber()

◆ rosPublishTmcInfo()

Member Data Documentation

◆ frame_id_

◆ module_number_

◆ motor_number_

◆ p_nh_

◆ p_tmcl_interpreter_

◆ param_add_ratio_pos_

◆ param_add_ratio_trq_

◆ param_add_ratio_vel_

◆ param_comm_interface_name_

◆ param_en_pub_tmc_info_

◆ param_pub_actual_pos_

◆ param_pub_actual_trq_

◆ param_pub_actual_vel_

◆ param_pub_rate_tmc_info_

◆ param_tmc_cmd_abspos_topic_

◆ param_tmc_cmd_relpos_topic_

◆ param_tmc_cmd_trq_topic_

◆ param_tmc_cmd_vel_topic_

◆ param_tmc_info_topic_

◆ param_wheel_diameter_

◆ s_namespace_

◆ s_node_name_

◆ seq_ctr_

◆ timer_callback_

◆ tmc_cmd_abspos_sub_

◆ tmc_cmd_relpos_sub_

◆ tmc_cmd_trq_sub_

◆ tmc_cmd_vel_sub_

◆ tmc_info_msg_

◆ tmc_info_pub_