#include <DriveParam.h>

Public Member Functions
	DriveParam ()
double	getBeltRatio ()
double	getCurrMax ()
double	getCurrToTorque ()
int	getDriveIdent ()
int	getEncIncrPerRevMot ()
int	getEncOffset ()
double	getGearRatio ()
int	getHomingDigIn ()
bool	getIsSteer ()
double	getMaxAcc ()
double	getMaxDec ()
double	getMaxVel ()
int	getSign ()
double	getVelMax ()
int	PosGearRadToPosMotIncr (double dPosGearRad)
double	PosMotIncrToPosGearRad (int iPosIncr)
	Conversions of encoder increments to gear position in radians.
void	PosVelRadToIncr (double dPosRad, double dVelRadS, int piPosIncr, int piVelIncrPeriod)
void	setHomingDigIn (int HomingDigIn)
void	setMaxAcc (double dMaxAcc)
void	setMaxDec (double dMaxDec)
void	setMaxVel (double dMaxVel)
void	setParam (int iDriveIdent, int iEncIncrPerRevMot, double dVelMeasFrqHz, double dBeltRatio, double dGearRatio, int iSign, double dVelMaxEncIncrS, double dAccIncrS2, double dDecIncrS2)
void	setParam (int iDriveIdent, int iEncIncrPerRevMot, double dVelMeasFrqHz, double dBeltRatio, double dGearRatio, int iSign, double dVelMaxEncIncrS, double dAccIncrS2, double dDecIncrS2, int iEncOffsetIncr, bool bIsSteer, double dCurrToTorque, double dCurrMax)
void	setParam (int iDriveIdent, int iEncIncrPerRevMot, double dVelMeasFrqHz, double dBeltRatio, double dGearRatio, int iSign, double dVelMaxEncIncrS, double dAccIncrS2, double dDecIncrS2, int iEncOffsetIncr, bool bIsSteer, double dCurrToTorque, double dCurrMax, int iHomingDigIn)
int	TempMeasIncrToGradCel (int iTempIncr)
int	VelGearRadSToVelMotIncrPeriod (double dVelGearRadS)
	Conversions of gear velocity in rad/s to encoder increments per measurment period.
double	VelMotIncrPeriodToVelGearRadS (int iVelMotIncrPeriod)
	Conversions of encoder increments per measurment period to gear velocity in rad/s.
Private Attributes
bool	m_bIsSteer
double	m_dAccIncrS2
double	m_dBeltRatio
double	m_dCurrMax
double	m_dCurrToTorque
double	m_dDecIncrS2
double	m_dGearRatio
double	m_dPosGearRadToPosMotIncr
double	m_dVelMaxEncIncrS
double	m_dVelMeasFrqHz
int	m_iDriveIdent
int	m_iEncIncrPerRevMot
int	m_iEncOffsetIncr
int	m_iHomingDigIn
int	m_iSign

Detailed Description

Parameters and conversion functionality of a motor drive.

Definition at line 28 of file DriveParam.h.

Constructor & Destructor Documentation

DriveParam::DriveParam ( ) [inline]

Default constructor.

Definition at line 55 of file DriveParam.h.

Member Function Documentation

double DriveParam::getBeltRatio ( ) [inline]

Get the belt ratio.

Returns:: The belt ratio.

Definition at line 328 of file DriveParam.h.

double DriveParam::getCurrMax ( ) [inline]

Get maximum current allowed

Definition at line 368 of file DriveParam.h.

double DriveParam::getCurrToTorque ( ) [inline]

Get factor to convert motor active current [A] into torque [Nm]

Definition at line 361 of file DriveParam.h.

int DriveParam::getDriveIdent ( ) [inline]

Returns the identifier of the drive.

Definition at line 187 of file DriveParam.h.

int DriveParam::getEncIncrPerRevMot ( ) [inline]

Get the DriveType - If it's a Steering or Driving Motor

Returns:: the Encoderoffset

Definition at line 354 of file DriveParam.h.

int DriveParam::getEncOffset ( ) [inline]

Get the EncoderOffset

Returns:: the Encoderoffset

Definition at line 337 of file DriveParam.h.

double DriveParam::getGearRatio ( ) [inline]

Get the gear ratio.

Returns:: The gear ratio.

Definition at line 320 of file DriveParam.h.

int DriveParam::getHomingDigIn ( ) [inline]

Get digital Input for Homing signal

Definition at line 375 of file DriveParam.h.

bool DriveParam::getIsSteer ( ) [inline]

Get the DriveType - If it's a Steering or Driving Motor

Returns:: the Encoderoffset

Definition at line 346 of file DriveParam.h.

double DriveParam::getMaxAcc ( ) [inline]

Get the maximum acceleration.

Returns:: Maximum acceleration

Definition at line 275 of file DriveParam.h.

double DriveParam::getMaxDec ( ) [inline]

Get the maximum deceleration.

Returns:: Maximum deceleration

Definition at line 293 of file DriveParam.h.

double DriveParam::getMaxVel ( ) [inline]

Get the maximum velocity in increments per second.

Returns:: Maximum velocity [inc/sec].

Definition at line 311 of file DriveParam.h.

int DriveParam::getSign ( ) [inline]

Returns the sign for the motion direction.

Definition at line 195 of file DriveParam.h.

double DriveParam::getVelMax ( ) [inline]

Gets the maximum velocity of the drive in increments per second.

Definition at line 203 of file DriveParam.h.

int DriveParam::PosGearRadToPosMotIncr ( double dPosGearRad ) [inline]

Converts revolution angle form radian to encoder increments.

Parameters:

dPosGearRad angle in radian

Definition at line 239 of file DriveParam.h.

double DriveParam::PosMotIncrToPosGearRad ( int iPosIncr ) [inline]

Conversions of encoder increments to gear position in radians.

Definition at line 245 of file DriveParam.h.

void DriveParam::PosVelRadToIncr	(	double	dPosRad,
		double	dVelRadS,
		int *	piPosIncr,
		int *	piVelIncrPeriod
	)		`[inline]`

Converts position and velocity.

Parameters:

dPosRad	position in radiant
dVelRadS	velocity in radiant per seconds
piPosIncr	converted position in increments
piVelIncrPeriod	converted velocity in increments of period

Definition at line 215 of file DriveParam.h.

void DriveParam::setHomingDigIn ( int HomingDigIn ) [inline]

Set digital Input for Homing signal

Definition at line 382 of file DriveParam.h.

void DriveParam::setMaxAcc ( double dMaxAcc ) [inline]

Set the maximum acceleration.

Parameters:

dMaxAcc Maximum acceleration

Definition at line 266 of file DriveParam.h.

void DriveParam::setMaxDec ( double dMaxDec ) [inline]

Set the maximum deceleration.

Parameters:

dMaxAcc Maximum deceleration

Definition at line 284 of file DriveParam.h.

void DriveParam::setMaxVel ( double dMaxVel ) [inline]

Set the maximum velocity.

Parameters:

dMaxVel Maximum velocity

Definition at line 302 of file DriveParam.h.

void DriveParam::setParam	(	int	iDriveIdent,
		int	iEncIncrPerRevMot,
		double	dVelMeasFrqHz,
		double	dBeltRatio,
		double	dGearRatio,
		int	iSign,
		double	dVelMaxEncIncrS,
		double	dAccIncrS2,
		double	dDecIncrS2
	)		`[inline]`

Sets the drive parameters.

Parameters:

iDriveIdent	identifier for the drive
iEncIncrPerRevMot	encoder increments per revolution of the motor shaft
dVelMeasFrqHz	set this value to 1
dGearRatio	ratio of the gear
iSign	change -1 for changing the motion direction
dVelMaxEncIncrS	maximum velocity given in encoder increments per second
dAccIncrS2	acceleration in encoder increments per s^2
dDecIncrS2	deceleration in encoder increments per s^2

Definition at line 74 of file DriveParam.h.

void DriveParam::setParam	(	int	iDriveIdent,
		int	iEncIncrPerRevMot,
		double	dVelMeasFrqHz,
		double	dBeltRatio,
		double	dGearRatio,
		int	iSign,
		double	dVelMaxEncIncrS,
		double	dAccIncrS2,
		double	dDecIncrS2,
		int	iEncOffsetIncr,
		bool	bIsSteer,
		double	dCurrToTorque,
		double	dCurrMax
	)		`[inline]`

Definition at line 105 of file DriveParam.h.

void DriveParam::setParam	(	int	iDriveIdent,
		int	iEncIncrPerRevMot,
		double	dVelMeasFrqHz,
		double	dBeltRatio,
		double	dGearRatio,
		int	iSign,
		double	dVelMaxEncIncrS,
		double	dAccIncrS2,
		double	dDecIncrS2,
		int	iEncOffsetIncr,
		bool	bIsSteer,
		double	dCurrToTorque,
		double	dCurrMax,
		int	iHomingDigIn
	)		`[inline]`