#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::MotorModel ( unsigned trace_size )

Definition at line 6 of file motor_model.cpp.

Member Function Documentation

◆ checkPublish()

void MotorModel::checkPublish ( )

Publishes motor trace if delay time is up.

Definition at line 87 of file motor_model.cpp.

◆ diagnostics()

void MotorModel::diagnostics ( diagnostic_updater::DiagnosticStatusWrapper & d )

Collects and publishes device diagnostics.

Definition at line 143 of file motor_model.cpp.

◆ flagPublish()

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.

◆ initialize()

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.

◆ reset()

void MotorModel::reset ( )

Definition at line 27 of file motor_model.cpp.

◆ sample()

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.

◆ verify()

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

◆ abs_board_voltage_

Filter MotorModel::abs_board_voltage_

protected

Definition at line 89 of file motor_model.h.

◆ abs_current_error_

Filter MotorModel::abs_current_error_

protected

Definition at line 83 of file motor_model.h.

◆ abs_measured_current_

Filter MotorModel::abs_measured_current_

protected

Definition at line 88 of file motor_model.h.

◆ abs_measured_voltage_error_

Filter MotorModel::abs_measured_voltage_error_

protected

Definition at line 81 of file motor_model.h.

◆ abs_motor_voltage_error_

Filter MotorModel::abs_motor_voltage_error_

protected

Definition at line 79 of file motor_model.h.

◆ abs_position_delta_

Filter MotorModel::abs_position_delta_

protected

Definition at line 90 of file motor_model.h.

◆ abs_velocity_

Filter MotorModel::abs_velocity_

protected

Definition at line 87 of file motor_model.h.

◆ actuator_info_

ethercat_hardware::ActuatorInfo MotorModel::actuator_info_

protected

Definition at line 36 of file motor_model.h.

◆ backemf_constant_

double MotorModel::backemf_constant_

protected

Definition at line 38 of file motor_model.h.

◆ board_info_

ethercat_hardware::BoardInfo MotorModel::board_info_

protected

Definition at line 37 of file motor_model.h.

◆ current_error_

Filter MotorModel::current_error_

protected

Definition at line 82 of file motor_model.h.

◆ current_error_limit_

double MotorModel::current_error_limit_

protected

Definition at line 42 of file motor_model.h.

◆ diagnostics_level_

int MotorModel::diagnostics_level_

protected

Definition at line 48 of file motor_model.h.

◆ diagnostics_mutex_

boost::mutex MotorModel::diagnostics_mutex_

protected

Definition at line 77 of file motor_model.h.

◆ diagnostics_reason_

std::string MotorModel::diagnostics_reason_

protected

Definition at line 49 of file motor_model.h.

◆ measured_voltage_error_

Filter MotorModel::measured_voltage_error_

protected

Definition at line 80 of file motor_model.h.

◆ motor_resistance_

SimpleFilter MotorModel::motor_resistance_

protected

Definition at line 84 of file motor_model.h.

◆ motor_voltage_error_

Filter MotorModel::motor_voltage_error_

protected

Definition at line 78 of file motor_model.h.

◆ previous_pwm_saturated_

bool MotorModel::previous_pwm_saturated_

protected

Definition at line 39 of file motor_model.h.

◆ publish_delay_

int MotorModel::publish_delay_

protected

Definition at line 43 of file motor_model.h.

◆ publish_level_

int MotorModel::publish_level_

protected

Definition at line 44 of file motor_model.h.

◆ publish_reason_

std::string MotorModel::publish_reason_

protected

Definition at line 45 of file motor_model.h.

◆ published_traces_

unsigned MotorModel::published_traces_

protected

Definition at line 35 of file motor_model.h.

◆ publisher_

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

protected

Definition at line 41 of file motor_model.h.

◆ trace_buffer_

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

protected

Definition at line 40 of file motor_model.h.

◆ trace_index_

unsigned MotorModel::trace_index_

protected

Definition at line 34 of file motor_model.h.

◆ trace_size_

unsigned MotorModel::trace_size_

protected

Definition at line 33 of file motor_model.h.

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

Classes

Public Member Functions

Protected Attributes

Detailed Description

Constructor & Destructor Documentation

◆ MotorModel()

Member Function Documentation

◆ checkPublish()

◆ diagnostics()

◆ flagPublish()

◆ initialize()

◆ reset()

◆ sample()

◆ verify()

Member Data Documentation

◆ abs_board_voltage_

◆ abs_current_error_

◆ abs_measured_current_

◆ abs_measured_voltage_error_

◆ abs_motor_voltage_error_

◆ abs_position_delta_

◆ abs_velocity_

◆ actuator_info_

◆ backemf_constant_

◆ board_info_

◆ current_error_

◆ current_error_limit_

◆ diagnostics_level_

◆ diagnostics_mutex_

◆ diagnostics_reason_

◆ measured_voltage_error_

◆ motor_resistance_

◆ motor_voltage_error_

◆ previous_pwm_saturated_

◆ publish_delay_

◆ publish_level_

◆ publish_reason_

◆ published_traces_

◆ publisher_

◆ trace_buffer_

◆ trace_index_

◆ trace_size_