robotican_hardware::CloseLoopMotor Class Reference

#include <RiCMotor.h>

Inheritance diagram for robotican_hardware::CloseLoopMotor:

List of all members.

Public Member Functions
virtual void	buildDevice ()=0
	CloseLoopMotor (byte id, TransportLayer *transportLayer, byte motorAddress, byte eSwitchPin, byte eSwitchType, CloseMotorType::CloseMotorType motorType, CloseMotorMode::CloseMotorMode mode)
JointInfo_t *	getJointInfo ()
virtual void	setParams (uint16_t speedLpfHz, uint16_t inputLpfHz, uint16_t pidHz, float speedLpfAlpha, float inputLpfAlpha, float KP, float KI, float KD, float KFF, float limit)=0
virtual void	update (const DeviceMessage *deviceMessage)
virtual void	write ()
Protected Member Functions
CloseMotorType::CloseMotorType	getCloseMotorType ()
CloseMotorMode::CloseMotorMode	getMode ()
Protected Attributes
JointInfo_t	_jointInfo
Private Member Functions
bool	checkIfLastCmdChange ()
Private Attributes
float	_lastCmd
CloseMotorMode::CloseMotorMode	_mode
CloseMotorType::CloseMotorType	_motorType

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Detailed Description

Definition at line 121 of file RiCMotor.h.

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Constructor & Destructor Documentation

robotican_hardware::CloseLoopMotor::CloseLoopMotor	(	byte	id,
		TransportLayer *	transportLayer,
		byte	motorAddress,
		byte	eSwitchPin,
		byte	eSwitchType,
		CloseMotorType::CloseMotorType	motorType,
		CloseMotorMode::CloseMotorMode	mode
	)

Definition at line 31 of file RiCMotor.cpp.

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Member Function Documentation

virtual void robotican_hardware::CloseLoopMotor::buildDevice

(

)

[pure virtual]

Implements robotican_hardware::RiCMotor.

Implemented in robotican_hardware::CloseLoopMotorWithPotentiometer, and robotican_hardware::CloseLoopMotorWithEncoder.

bool robotican_hardware::CloseLoopMotor::checkIfLastCmdChange

(

)

[private]

Definition at line 70 of file RiCMotor.cpp.

CloseMotorType::CloseMotorType robotican_hardware::CloseLoopMotor::getCloseMotorType

(

)

[protected]

Definition at line 75 of file RiCMotor.cpp.

JointInfo_t * robotican_hardware::CloseLoopMotor::getJointInfo

(

)

Definition at line 40 of file RiCMotor.cpp.

CloseMotorMode::CloseMotorMode robotican_hardware::CloseLoopMotor::getMode

(

)

[protected]

Definition at line 79 of file RiCMotor.cpp.

virtual void robotican_hardware::CloseLoopMotor::setParams	(	uint16_t	speedLpfHz,
		uint16_t	inputLpfHz,
		uint16_t	pidHz,
		float	speedLpfAlpha,
		float	inputLpfAlpha,
		float	KP,
		float	KI,
		float	KD,
		float	KFF,
		float	limit
	)		[pure virtual]

Implemented in robotican_hardware::CloseLoopMotorWithPotentiometer, and robotican_hardware::CloseLoopMotorWithEncoder.

void robotican_hardware::CloseLoopMotor::update

(

const DeviceMessage *

deviceMessage

)

[virtual]

Implements robotican_hardware::RiCMotor.

Reimplemented in robotican_hardware::CloseLoopMotorWithPotentiometer.

Definition at line 44 of file RiCMotor.cpp.

void robotican_hardware::CloseLoopMotor::write

(

)

[virtual]

Implements robotican_hardware::RiCMotor.

Reimplemented in robotican_hardware::CloseLoopMotorWithPotentiometer, and robotican_hardware::CloseLoopMotorWithEncoder.

Definition at line 53 of file RiCMotor.cpp.

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Member Data Documentation

JointInfo_t robotican_hardware::CloseLoopMotor::_jointInfo [protected]

Definition at line 142 of file RiCMotor.h.

float robotican_hardware::CloseLoopMotor::_lastCmd [private]

Definition at line 123 of file RiCMotor.h.

CloseMotorMode::CloseMotorMode robotican_hardware::CloseLoopMotor::_mode [private]

Definition at line 125 of file RiCMotor.h.

CloseMotorType::CloseMotorType robotican_hardware::CloseLoopMotor::_motorType [private]

Definition at line 124 of file RiCMotor.h.

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

• RiCMotor.h
• RiCMotor.cpp