#include <CanCtrlPltfCOb3.h>

Classes
struct	CanNeoIDType

struct	CanOpenIDType

struct	GearMotorParamType

struct	ParamType

Public Types
enum	MotorCANNode { CANNODE_WHEEL1DRIVEMOTOR, CANNODE_WHEEL1STEERMOTOR, CANNODE_WHEEL2DRIVEMOTOR, CANNODE_WHEEL2STEERMOTOR, CANNODE_WHEEL3DRIVEMOTOR, CANNODE_WHEEL3STEERMOTOR, CANNODE_WHEEL4DRIVEMOTOR, CANNODE_WHEEL4STEERMOTOR }

Public Member Functions
	CanCtrlPltfCOb3 (std::string iniDirectory)

int	ElmoRecordings (int iFlag, int iParam, std::string sString)

int	evalCanBuffer ()

int	getGearDeltaPosVelRadS (int iCanIdent, double pdDeltaAngleGearRad, double pdVelGearRadS)

int	getGearPosVelRadS (int iCanIdent, double pdAngleGearRad, double pdVelGearRadS)

void	getMotorTorque (int iCanIdent, double *pdTorqueNm)

void	getStatus (int iCanIdent, int piStatus, int piTempCel)

bool	initPltf ()

bool	isPltfError ()

void	requestDriveStatus ()

void	requestMotorTorque ()

int	requestMotPosVel (int iCanIdent)

bool	resetPltf ()

void	setMotorTorque (int iCanIdent, double dTorqueNm)

int	setVelGearRadS (int iCanIdent, double dVelGearRadS)

bool	shutdownPltf ()

bool	startWatchdog (bool bStarted)

	~CanCtrlPltfCOb3 ()

Protected Member Functions
void	readConfiguration ()

void	sendNetStartCanOpen ()

Protected Attributes
bool	m_bWatchdogErr

CanMsg	m_CanMsgRec

CanOpenIDType	m_CanOpenIDParam

GearMotorParamType	m_GearMotDrive1

GearMotorParamType	m_GearMotDrive2

GearMotorParamType	m_GearMotDrive3

GearMotorParamType	m_GearMotDrive4

GearMotorParamType	m_GearMotSteer1

GearMotorParamType	m_GearMotSteer2

GearMotorParamType	m_GearMotSteer3

GearMotorParamType	m_GearMotSteer4

IniFile	m_IniFile

int	m_iNumDrives

int	m_iNumMotors

Mutex	m_Mutex

ParamType	m_Param

CanItf *	m_pCanCtrl

std::vector< int >	m_viMotorID

std::vector< CanDriveItf * >	m_vpMotor

std::string	sComposed

std::string	sIniDirectory

Detailed Description

Represents all CAN components on an arbitrary canbus.

Definition at line 43 of file CanCtrlPltfCOb3.h.

Member Enumeration Documentation

◆ MotorCANNode

enum CanCtrlPltfCOb3::MotorCANNode

Specify Cannodes (Identifiers to send velocities to one specific motor) This has to be adapted to the hardware-setup!

Enumerator
CANNODE_WHEEL1DRIVEMOTOR
CANNODE_WHEEL1STEERMOTOR
CANNODE_WHEEL2DRIVEMOTOR
CANNODE_WHEEL2STEERMOTOR
CANNODE_WHEEL3DRIVEMOTOR
CANNODE_WHEEL3STEERMOTOR
CANNODE_WHEEL4DRIVEMOTOR
CANNODE_WHEEL4STEERMOTOR

Definition at line 66 of file CanCtrlPltfCOb3.h.

Constructor & Destructor Documentation

◆ CanCtrlPltfCOb3()

CanCtrlPltfCOb3::CanCtrlPltfCOb3 ( std::string iniDirectory )

Default constructor.

Definition at line 32 of file CanCtrlPltfCOb3.cpp.

◆ ~CanCtrlPltfCOb3()

CanCtrlPltfCOb3::~CanCtrlPltfCOb3 ( )

Default destructor.

Definition at line 188 of file CanCtrlPltfCOb3.cpp.

Member Function Documentation

◆ ElmoRecordings()

int CanCtrlPltfCOb3::ElmoRecordings	(	int	iFlag,
		int	iParam,
		std::string	sString
	)

Provides several functions for drive information recording purposes using the built in ElmoRecorder, which allows to record drive information at a high frequency.

Parameters

iFlag To keep the interface slight, use iParam to command the recorder: 0: Configure the Recorder to record the sources Main Speed(1), Main position(2), Active current(10), Speed command(16). With iParam = iRecordingGap you specify every which time quantum (4*90usec) a new data point (of 1024 points in total) is recorded; 1: Query Upload of recorded source (1=Main Speed, 2=Main position, 10=Active Current, 16=Speed command) with iParam and log data to file sParam = file prefix. Filename is extended with _MotorNumber_RecordedSource.log 99: Abort and clear current SDO readout process 100: Request status of readout. Gives back 0 if all transmissions have finished and no CAN polling is needed anymore.

Returns: -1: Unknown flag set; 0: Success; 1: Recorder hasn't been configured yet; 2: data collection still in progress

Definition at line 1456 of file CanCtrlPltfCOb3.cpp.

◆ evalCanBuffer()

int CanCtrlPltfCOb3::evalCanBuffer ( )

Triggers evaluation of the can-buffer.

Definition at line 862 of file CanCtrlPltfCOb3.cpp.

◆ getGearDeltaPosVelRadS()

int CanCtrlPltfCOb3::getGearDeltaPosVelRadS	(	int	iCanIdent,
		double *	pdDeltaAngleGearRad,
		double *	pdVelGearRadS
	)

Gets the delta joint-angle since the last call and the velocity.

Parameters

iCanIdent	choose a can node
pdDeltaAngleGearRad	delta joint-position since the last call in radian
pdVelGearRadS	joint-velocity in radian per second

Definition at line 1368 of file CanCtrlPltfCOb3.cpp.

◆ getGearPosVelRadS()

int CanCtrlPltfCOb3::getGearPosVelRadS	(	int	iCanIdent,
		double *	pdAngleGearRad,
		double *	pdVelGearRadS
	)

Gets the position and velocity.

Parameters

iCanIdent	choose a can node
pdAngleGearRad	joint-position in radian
pdVelGearRadS	joint-velocity in radian per second

Definition at line 1348 of file CanCtrlPltfCOb3.cpp.

◆ getMotorTorque()

void CanCtrlPltfCOb3::getMotorTorque	(	int	iCanIdent,
		double *	pdTorqueNm
	)

Gets the motor torque (calculated from motor active current).

Parameters

iCanIdent	choose a can node
pdTorqueNm	motor-torque in Newtonmeter

Definition at line 1419 of file CanCtrlPltfCOb3.cpp.

◆ getStatus()

void CanCtrlPltfCOb3::getStatus	(	int	iCanIdent,
		int *	piStatus,
		int *	piTempCel
	)

Gets the status and temperature in degree celcius. (Not implemented for CanDriveHarmonica)

Parameters

iCanIdent choose a CANNode enumatraion

Definition at line 1389 of file CanCtrlPltfCOb3.cpp.

◆ initPltf()

bool CanCtrlPltfCOb3::initPltf ( )

Initializes all CAN nodes of the platfrom and performs homing procedure. !! The homing routine is hardware-dependent (steering and driving is coupled) !! !! If you use this code on other hardware -> make sure te remove or adapt homing sequence !!

Definition at line 893 of file CanCtrlPltfCOb3.cpp.

◆ isPltfError()

bool CanCtrlPltfCOb3::isPltfError ( )

Signs an error of the platform.

Returns: true if there is an error.

Definition at line 1204 of file CanCtrlPltfCOb3.cpp.

◆ readConfiguration()

void CanCtrlPltfCOb3::readConfiguration ( )

protected

Definition at line 207 of file CanCtrlPltfCOb3.cpp.

◆ requestDriveStatus()

void CanCtrlPltfCOb3::requestDriveStatus ( )

Requests the status of the drive. Status-Msg includes whether motor is in error-state (with source, e.g. undercurrent, overheated) or operational (enabled/disabled, at its limits, ...)

Definition at line 1335 of file CanCtrlPltfCOb3.cpp.

◆ requestMotorTorque()

void CanCtrlPltfCOb3::requestMotorTorque ( )

Requests motor-torque (in fact active current) of the drive.

Parameters

iCanIdent choose a can node

Definition at line 1406 of file CanCtrlPltfCOb3.cpp.

◆ requestMotPosVel()

int CanCtrlPltfCOb3::requestMotPosVel ( int iCanIdent )

Requests position and velocity of the drive. (This is not implemented for CanDriveHarmonica. sending an Velocity command to an ELMO Harmonica-Ctrl triggers a aswer transmitting the current velocity)

Parameters

iCanIdent choose a can node

Definition at line 1316 of file CanCtrlPltfCOb3.cpp.

◆ resetPltf()

bool CanCtrlPltfCOb3::resetPltf ( )

Reinitializes the nodes on the bus. The function might be neccessary after an emergency stop or an hardware failure to reinit drives.

Definition at line 1169 of file CanCtrlPltfCOb3.cpp.

◆ sendNetStartCanOpen()

void CanCtrlPltfCOb3::sendNetStartCanOpen ( )

protected

Starts up can node

Definition at line 1270 of file CanCtrlPltfCOb3.cpp.

◆ setMotorTorque()

void CanCtrlPltfCOb3::setMotorTorque	(	int	iCanIdent,
		double	dTorqueNm
	)

Sends torques to the can node. Status is requested, too.

Parameters

iCanIdent	choose a can node
dTorqueNM	motor-torque in Newtonmeter

Definition at line 1435 of file CanCtrlPltfCOb3.cpp.

◆ setVelGearRadS()

int CanCtrlPltfCOb3::setVelGearRadS	(	int	iCanIdent,
		double	dVelGearRadS
	)

Sends veolocities to the can node. Status is requested, too.

Parameters

iCanIdent	choose a can node
dVelGearRadS	joint-velocity in radian per second

Definition at line 1289 of file CanCtrlPltfCOb3.cpp.

◆ shutdownPltf()

bool CanCtrlPltfCOb3::shutdownPltf ( )

Shutdown of the platform. Disables motors, enables brake and disconnects.

Definition at line 1192 of file CanCtrlPltfCOb3.cpp.

◆ startWatchdog()

bool CanCtrlPltfCOb3::startWatchdog ( bool bStarted )

Starts the watchdog of the CAN components.

Definition at line 1256 of file CanCtrlPltfCOb3.cpp.

Member Data Documentation

◆ m_bWatchdogErr

bool CanCtrlPltfCOb3::m_bWatchdogErr

protected

Definition at line 403 of file CanCtrlPltfCOb3.h.

◆ m_CanMsgRec

CanMsg CanCtrlPltfCOb3::m_CanMsgRec

protected

Definition at line 401 of file CanCtrlPltfCOb3.h.

◆ m_CanOpenIDParam

CanOpenIDType CanCtrlPltfCOb3::m_CanOpenIDParam

protected

Definition at line 388 of file CanCtrlPltfCOb3.h.

◆ m_GearMotDrive1

GearMotorParamType CanCtrlPltfCOb3::m_GearMotDrive1

protected

Definition at line 391 of file CanCtrlPltfCOb3.h.

◆ m_GearMotDrive2

GearMotorParamType CanCtrlPltfCOb3::m_GearMotDrive2

protected

Definition at line 392 of file CanCtrlPltfCOb3.h.

◆ m_GearMotDrive3

GearMotorParamType CanCtrlPltfCOb3::m_GearMotDrive3

protected

Definition at line 393 of file CanCtrlPltfCOb3.h.

◆ m_GearMotDrive4

GearMotorParamType CanCtrlPltfCOb3::m_GearMotDrive4

protected

Definition at line 394 of file CanCtrlPltfCOb3.h.

◆ m_GearMotSteer1

GearMotorParamType CanCtrlPltfCOb3::m_GearMotSteer1

protected

Definition at line 395 of file CanCtrlPltfCOb3.h.

◆ m_GearMotSteer2

GearMotorParamType CanCtrlPltfCOb3::m_GearMotSteer2

protected

Definition at line 396 of file CanCtrlPltfCOb3.h.

◆ m_GearMotSteer3

GearMotorParamType CanCtrlPltfCOb3::m_GearMotSteer3

protected

Definition at line 397 of file CanCtrlPltfCOb3.h.

◆ m_GearMotSteer4

GearMotorParamType CanCtrlPltfCOb3::m_GearMotSteer4

protected

Definition at line 398 of file CanCtrlPltfCOb3.h.

◆ m_IniFile

IniFile CanCtrlPltfCOb3::m_IniFile

protected

Definition at line 408 of file CanCtrlPltfCOb3.h.

◆ m_iNumDrives

int CanCtrlPltfCOb3::m_iNumDrives

protected

Definition at line 411 of file CanCtrlPltfCOb3.h.

◆ m_iNumMotors

int CanCtrlPltfCOb3::m_iNumMotors

protected

Definition at line 410 of file CanCtrlPltfCOb3.h.

◆ m_Mutex

Mutex CanCtrlPltfCOb3::m_Mutex

protected

Definition at line 402 of file CanCtrlPltfCOb3.h.

◆ m_Param

ParamType CanCtrlPltfCOb3::m_Param

protected

Definition at line 386 of file CanCtrlPltfCOb3.h.

◆ m_pCanCtrl

CanItf* CanCtrlPltfCOb3::m_pCanCtrl

protected

Definition at line 407 of file CanCtrlPltfCOb3.h.

◆ m_viMotorID

std::vector<int> CanCtrlPltfCOb3::m_viMotorID

protected

Definition at line 426 of file CanCtrlPltfCOb3.h.

◆ m_vpMotor

std::vector<CanDriveItf*> CanCtrlPltfCOb3::m_vpMotor

protected

Definition at line 423 of file CanCtrlPltfCOb3.h.

◆ sComposed

std::string CanCtrlPltfCOb3::sComposed

protected

Definition at line 219 of file CanCtrlPltfCOb3.h.

◆ sIniDirectory

std::string CanCtrlPltfCOb3::sIniDirectory

protected

Reads configuration of can node and components from Inifile (should be adapted to use ROS-Parameter file)

Definition at line 218 of file CanCtrlPltfCOb3.h.

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

Classes

Public Types

Public Member Functions

Protected Member Functions

Protected Attributes

Detailed Description

Member Enumeration Documentation

◆ MotorCANNode

Constructor & Destructor Documentation

◆ CanCtrlPltfCOb3()

◆ ~CanCtrlPltfCOb3()

Member Function Documentation

◆ ElmoRecordings()

◆ evalCanBuffer()

◆ getGearDeltaPosVelRadS()

◆ getGearPosVelRadS()

◆ getMotorTorque()

◆ getStatus()

◆ initPltf()

◆ isPltfError()

◆ readConfiguration()

◆ requestDriveStatus()

◆ requestMotorTorque()

◆ requestMotPosVel()

◆ resetPltf()

◆ sendNetStartCanOpen()

◆ setMotorTorque()

◆ setVelGearRadS()

◆ shutdownPltf()

◆ startWatchdog()

Member Data Documentation

◆ m_bWatchdogErr

◆ m_CanMsgRec

◆ m_CanOpenIDParam

◆ m_GearMotDrive1

◆ m_GearMotDrive2

◆ m_GearMotDrive3

◆ m_GearMotDrive4

◆ m_GearMotSteer1

◆ m_GearMotSteer2

◆ m_GearMotSteer3

◆ m_GearMotSteer4

◆ m_IniFile

◆ m_iNumDrives

◆ m_iNumMotors

◆ m_Mutex

◆ m_Param

◆ m_pCanCtrl

◆ m_viMotorID

◆ m_vpMotor

◆ sComposed

◆ sIniDirectory