Public Member Functions | Public Attributes | Protected Attributes
EncodersMonitor Class Reference

#include <encoders_monitor.h>

List of all members.

Public Member Functions

bool detectFailedEncoder ()
bool detectFailedEncoderCandidate (VectorDrive::Index *candidate)
void diagnostic (diagnostic_updater::DiagnosticStatusWrapper &)
void driveCallback (const grizzly_msgs::DriveConstPtr &)
void encodersCallback (const grizzly_msgs::DriveConstPtr &)
 EncodersMonitor ()
 EncodersMonitor (ros::NodeHandle *nh)
bool moving ()
bool ok ()

Public Attributes

ros::Duration encoder_fault_time_to_failure
double encoder_speed_error_diff_threshold
ros::Duration encoders_timeout

Protected Attributes

int failed_encoder_
grizzly_msgs::DriveConstPtr last_received_drive_
grizzly_msgs::DriveConstPtr last_received_encoders_
ros::Subscriber sub_drive_
ros::Subscriber sub_encoders_
ros::Time time_of_last_nonsuspect_encoders_

Detailed Description

Definition at line 37 of file encoders_monitor.h.


Constructor & Destructor Documentation

Definition at line 39 of file encoders_monitor.h.

Separate ROS initialization step for better testability.

Definition at line 32 of file encoders_monitor.cpp.


Member Function Documentation

Definition at line 88 of file encoders_monitor.cpp.

bool EncodersMonitor::detectFailedEncoderCandidate ( VectorDrive::Index *  candidate)

Definition at line 57 of file encoders_monitor.cpp.

Prepare diagnostics. Called at 1Hz by the Updater.

Definition at line 134 of file encoders_monitor.cpp.

void EncodersMonitor::driveCallback ( const grizzly_msgs::DriveConstPtr &  drive)

New commands went out to the motors.

Definition at line 178 of file encoders_monitor.cpp.

void EncodersMonitor::encodersCallback ( const grizzly_msgs::DriveConstPtr &  encoders)

New encoder data received. The important logic here is detecting when an encoder or the associated cabling has failed. The general principle is:

  • compared commanded speed to actual speed (for an "error" value)
  • monitor how much time each encoder spends over an acceptable threshold of error.
  • compute the variance of the time-in-excess-error array. If it exceeds a a heuristically-set value, conclude that there may be a failed encoder. Future work on this function could also account for current consumption by motors; eg, a spike in current by a motor relative to the others with no associated speed change.

Definition at line 170 of file encoders_monitor.cpp.

Called in the context of making sure the vehicle is stopped before releasing the estop assertion.

Definition at line 126 of file encoders_monitor.cpp.

Definition at line 107 of file encoders_monitor.cpp.


Member Data Documentation

Definition at line 61 of file encoders_monitor.h.

Definition at line 58 of file encoders_monitor.h.

Definition at line 54 of file encoders_monitor.h.

Definition at line 65 of file encoders_monitor.h.

grizzly_msgs::DriveConstPtr EncodersMonitor::last_received_drive_ [protected]

Definition at line 68 of file encoders_monitor.h.

grizzly_msgs::DriveConstPtr EncodersMonitor::last_received_encoders_ [protected]

Definition at line 67 of file encoders_monitor.h.

Definition at line 64 of file encoders_monitor.h.

Definition at line 64 of file encoders_monitor.h.

Definition at line 69 of file encoders_monitor.h.


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


grizzly_motion
Author(s):
autogenerated on Fri Aug 28 2015 10:55:30