#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

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 ( std::string iniDirectory )

Default constructor.

Definition at line 32 of file CanCtrlPltfCOb3.cpp.

CanCtrlPltfCOb3::~CanCtrlPltfCOb3 ( )

Default destructor.

Definition at line 188 of file CanCtrlPltfCOb3.cpp.

Member Function Documentation

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.

int CanCtrlPltfCOb3::evalCanBuffer ( )

Triggers evaluation of the can-buffer.

Definition at line 862 of file CanCtrlPltfCOb3.cpp.

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.

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.

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.

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.

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.

bool CanCtrlPltfCOb3::isPltfError ( )

Signs an error of the platform.

Returns:: true if there is an error.

Definition at line 1204 of file CanCtrlPltfCOb3.cpp.

void CanCtrlPltfCOb3::readConfiguration ( ) [protected]

Definition at line 207 of file CanCtrlPltfCOb3.cpp.

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.

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.

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.

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.

void CanCtrlPltfCOb3::sendNetStartCanOpen ( ) [protected]

Starts up can node

Definition at line 1270 of file CanCtrlPltfCOb3.cpp.