#include <motor_model.h>
Classes | |
| class | Filter |
| class | SimpleFilter |
Public Member Functions | |
| void | checkPublish () |
| Publishes motor trace if delay time is up. | |
| void | diagnostics (diagnostic_updater::DiagnosticStatusWrapper &d) |
| Collects and publishes device diagnostics. | |
| void | flagPublish (const std::string &reason, int level, int delay) |
| flags delayed publish of motor trace. | |
| bool | initialize (const ethercat_hardware::ActuatorInfo &actuator_info, const ethercat_hardware::BoardInfo &board_info) |
| Initializes motor trace publisher. | |
| MotorModel (unsigned trace_size) | |
| void | reset () |
| void | sample (const ethercat_hardware::MotorTraceSample &s) |
| Call for each update. | |
| bool | verify () |
| Check for errors between sample data and motor model. | |
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_ |
Definition at line 20 of file motor_model.h.
| MotorModel::MotorModel | ( | unsigned | trace_size | ) |
Definition at line 6 of file motor_model.cpp.
| void MotorModel::checkPublish | ( | ) |
Publishes motor trace if delay time is up.
Definition at line 87 of file motor_model.cpp.
Collects and publishes device diagnostics.
Definition at line 143 of file motor_model.cpp.
| 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.
| 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.
| void MotorModel::reset | ( | ) |
Definition at line 27 of file motor_model.cpp.
| 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.
| bool MotorModel::verify | ( | ) |
Check for errors between sample data and motor model.
| reason | string is filled in when error or warning occurs |
| level | filled in with 2 (ERROR) or 1 (WARN). |
Definition at line 313 of file motor_model.cpp.
Filter MotorModel::abs_board_voltage_ [protected] |
Definition at line 89 of file motor_model.h.
Filter MotorModel::abs_current_error_ [protected] |
Definition at line 83 of file motor_model.h.
Filter MotorModel::abs_measured_current_ [protected] |
Definition at line 88 of file motor_model.h.
Filter MotorModel::abs_measured_voltage_error_ [protected] |
Definition at line 81 of file motor_model.h.
Filter MotorModel::abs_motor_voltage_error_ [protected] |
Definition at line 79 of file motor_model.h.
Filter MotorModel::abs_position_delta_ [protected] |
Definition at line 90 of file motor_model.h.
Filter MotorModel::abs_velocity_ [protected] |
Definition at line 87 of file motor_model.h.
ethercat_hardware::ActuatorInfo MotorModel::actuator_info_ [protected] |
Definition at line 36 of file motor_model.h.
double MotorModel::backemf_constant_ [protected] |
Definition at line 38 of file motor_model.h.
ethercat_hardware::BoardInfo MotorModel::board_info_ [protected] |
Definition at line 37 of file motor_model.h.
Filter MotorModel::current_error_ [protected] |
Definition at line 82 of file motor_model.h.
double MotorModel::current_error_limit_ [protected] |
Definition at line 42 of file motor_model.h.
int MotorModel::diagnostics_level_ [protected] |
Definition at line 48 of file motor_model.h.
boost::mutex MotorModel::diagnostics_mutex_ [protected] |
Definition at line 77 of file motor_model.h.
std::string MotorModel::diagnostics_reason_ [protected] |
Definition at line 49 of file motor_model.h.
Filter MotorModel::measured_voltage_error_ [protected] |
Definition at line 80 of file motor_model.h.
SimpleFilter MotorModel::motor_resistance_ [protected] |
Definition at line 84 of file motor_model.h.
Filter MotorModel::motor_voltage_error_ [protected] |
Definition at line 78 of file motor_model.h.
bool MotorModel::previous_pwm_saturated_ [protected] |
Definition at line 39 of file motor_model.h.
int MotorModel::publish_delay_ [protected] |
Definition at line 43 of file motor_model.h.
int MotorModel::publish_level_ [protected] |
Definition at line 44 of file motor_model.h.
std::string MotorModel::publish_reason_ [protected] |
Definition at line 45 of file motor_model.h.
unsigned MotorModel::published_traces_ [protected] |
Definition at line 35 of file motor_model.h.
realtime_tools::RealtimePublisher<ethercat_hardware::MotorTrace>* MotorModel::publisher_ [protected] |
Definition at line 41 of file motor_model.h.
std::vector<ethercat_hardware::MotorTraceSample> MotorModel::trace_buffer_ [protected] |
Definition at line 40 of file motor_model.h.
unsigned MotorModel::trace_index_ [protected] |
Definition at line 34 of file motor_model.h.
unsigned MotorModel::trace_size_ [protected] |
Definition at line 33 of file motor_model.h.