rm_common::PowerLimit Class Reference

#include <power_limit.h>

Public Types
enum	Mode {   CHARGE = 0, BURST = 1, NORMAL = 2, ALLOFF = 3,   TEST = 4 }

Public Member Functions
uint8_t	getState ()
	PowerLimit (ros::NodeHandle &nh)
void	setCapacityData (const rm_msgs::PowerManagementSampleAndStatusData data)
void	setChassisPowerBuffer (const rm_msgs::PowerHeatData data)
void	setGameRobotData (const rm_msgs::GameRobotStatus data)
void	setLimitPower (rm_msgs::ChassisCmd &chassis_cmd, bool is_gyro)
void	setRefereeStatus (bool status)
void	updateCapSwitchState (bool state)
void	updateSafetyPower (int safety_power)
void	updateState (uint8_t state)

Private Member Functions
void	burst (rm_msgs::ChassisCmd &chassis_cmd, bool is_gyro)
void	charge (rm_msgs::ChassisCmd &chassis_cmd)
void	normal (rm_msgs::ChassisCmd &chassis_cmd)
void	zero (rm_msgs::ChassisCmd &chassis_cmd)

Private Attributes
double	buffer_threshold_ {}
double	burst_power_ {}
float	cap_energy_
uint8_t	cap_state_ {}
bool	capacitor_is_on_ { true }
double	capacitor_threshold_ {}
bool	capacity_is_online_ { false }
double	charge_power_ {}
int	chassis_power_buffer_
int	chassis_power_limit_
uint8_t	expect_state_ {}
double	extra_power_ {}
bool	is_new_capacitor_ { false }
double	power_gain_ {}
bool	referee_is_online_ { false }
int	robot_id_
double	safety_power_ {}

Detailed Description

Definition at line 80 of file power_limit.h.

Member Enumeration Documentation

Mode

enum rm_common::PowerLimit::Mode

Enumerator
CHARGE
BURST
NORMAL
ALLOFF
TEST

Definition at line 134 of file power_limit.h.

Constructor & Destructor Documentation

PowerLimit()

rm_common::PowerLimit::PowerLimit ( ros::NodeHandle &  nh )

inline

Definition at line 114 of file power_limit.h.

Member Function Documentation

burst()

void rm_common::PowerLimit::burst ( rm_msgs::ChassisCmd &  chassis_cmd, bool  is_gyro  )

inlineprivate

Definition at line 244 of file power_limit.h.

charge()

void rm_common::PowerLimit::charge ( rm_msgs::ChassisCmd &  chassis_cmd )

inlineprivate

Definition at line 229 of file power_limit.h.

getState()

uint8_t rm_common::PowerLimit::getState ( )

inline

Definition at line 180 of file power_limit.h.

normal()

void rm_common::PowerLimit::normal ( rm_msgs::ChassisCmd &  chassis_cmd )

inlineprivate

Definition at line 233 of file power_limit.h.

setCapacityData()

void rm_common::PowerLimit::setCapacityData ( const rm_msgs::PowerManagementSampleAndStatusData  data )

inline

Definition at line 169 of file power_limit.h.

setChassisPowerBuffer()

void rm_common::PowerLimit::setChassisPowerBuffer ( const rm_msgs::PowerHeatData  data )

inline

Definition at line 165 of file power_limit.h.

setGameRobotData()

void rm_common::PowerLimit::setGameRobotData ( const rm_msgs::GameRobotStatus  data )

inline

Definition at line 160 of file power_limit.h.

setLimitPower()

void rm_common::PowerLimit::setLimitPower ( rm_msgs::ChassisCmd &  chassis_cmd, bool  is_gyro  )

inline

Definition at line 184 of file power_limit.h.

setRefereeStatus()

void rm_common::PowerLimit::setRefereeStatus ( bool  status )

inline

Definition at line 175 of file power_limit.h.

updateCapSwitchState()

void rm_common::PowerLimit::updateCapSwitchState ( bool  state )

inline

Definition at line 156 of file power_limit.h.

updateSafetyPower()

void rm_common::PowerLimit::updateSafetyPower ( int  safety_power )

inline

Definition at line 143 of file power_limit.h.

updateState()

void rm_common::PowerLimit::updateState ( uint8_t  state )

inline

Definition at line 149 of file power_limit.h.

zero()

void rm_common::PowerLimit::zero ( rm_msgs::ChassisCmd &  chassis_cmd )

inlineprivate

Definition at line 240 of file power_limit.h.

Member Data Documentation

buffer_threshold_

double rm_common::PowerLimit::buffer_threshold_ {}

private

Definition at line 263 of file power_limit.h.

burst_power_

double rm_common::PowerLimit::burst_power_ {}

private

Definition at line 262 of file power_limit.h.

cap_energy_

float rm_common::PowerLimit::cap_energy_

private

Definition at line 259 of file power_limit.h.

cap_state_

uint8_t rm_common::PowerLimit::cap_state_ {}

private

Definition at line 266 of file power_limit.h.

capacitor_is_on_

bool rm_common::PowerLimit::capacitor_is_on_ { true }

private

Definition at line 267 of file power_limit.h.

capacitor_threshold_

double rm_common::PowerLimit::capacitor_threshold_ {}

private

Definition at line 261 of file power_limit.h.

capacity_is_online_

bool rm_common::PowerLimit::capacity_is_online_ { false }

private

Definition at line 270 of file power_limit.h.

charge_power_

double rm_common::PowerLimit::charge_power_ {}

private

Definition at line 262 of file power_limit.h.

chassis_power_buffer_

int rm_common::PowerLimit::chassis_power_buffer_

private

Definition at line 257 of file power_limit.h.

chassis_power_limit_

int rm_common::PowerLimit::chassis_power_limit_

private

Definition at line 258 of file power_limit.h.

expect_state_

uint8_t rm_common::PowerLimit::expect_state_ {}

private

Definition at line 266 of file power_limit.h.

extra_power_

double rm_common::PowerLimit::extra_power_ {}

private

Definition at line 262 of file power_limit.h.

is_new_capacitor_

bool rm_common::PowerLimit::is_new_capacitor_ { false }

private

Definition at line 265 of file power_limit.h.

power_gain_

double rm_common::PowerLimit::power_gain_ {}

private

Definition at line 264 of file power_limit.h.

referee_is_online_

bool rm_common::PowerLimit::referee_is_online_ { false }

private

Definition at line 269 of file power_limit.h.

robot_id_

int rm_common::PowerLimit::robot_id_

private

Definition at line 258 of file power_limit.h.

safety_power_

double rm_common::PowerLimit::safety_power_ {}

private

Definition at line 260 of file power_limit.h.

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

• power_limit.h