robotican_hardware::CloseLoopMotorWithEncoder Class Reference

#include <RiCMotor.h>

Inheritance diagram for robotican_hardware::CloseLoopMotorWithEncoder:

List of all members.

Public Member Functions
virtual void	buildDevice ()
	CloseLoopMotorWithEncoder (byte id, TransportLayer *transportLayer, byte motorAddress, byte eSwitchPin, byte eSwitchType, CloseMotorType::CloseMotorType motoryType, CloseMotorMode::CloseMotorMode mode, CloseMotorWithEncoderParam param, std::string jointName)
virtual void	write ()
Private Member Functions
void	dynamicCallback (robotican_hardware_interface::RiCBoardConfig &config, uint32_t level)
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)
void	timerCallback (const ros::TimerEvent &e)
Private Attributes
dynamic_reconfigure::Server < robotican_hardware_interface::RiCBoardConfig > ::CallbackType	_callbackType
bool	_isSetParam
boost::recursive_mutex	_mutex
ros::NodeHandle	_nodeHandle
CloseMotorWithEncoderParam	_params
dynamic_reconfigure::Server < robotican_hardware_interface::RiCBoardConfig >	_server
ros::AsyncSpinner	_spinner
ros::Publisher	_statusPub
ros::Timer	_timer

---

Detailed Description

Definition at line 148 of file RiCMotor.h.

---

Constructor & Destructor Documentation

robotican_hardware::CloseLoopMotorWithEncoder::CloseLoopMotorWithEncoder	(	byte	id,
		TransportLayer *	transportLayer,
		byte	motorAddress,
		byte	eSwitchPin,
		byte	eSwitchType,
		CloseMotorType::CloseMotorType	motoryType,
		CloseMotorMode::CloseMotorMode	mode,
		CloseMotorWithEncoderParam	param,
		std::string	jointName
	)

Definition at line 168 of file RiCMotor.cpp.

---

Member Function Documentation

void robotican_hardware::CloseLoopMotorWithEncoder::buildDevice

(

)

[virtual]

Implements robotican_hardware::CloseLoopMotor.

Definition at line 202 of file RiCMotor.cpp.

void robotican_hardware::CloseLoopMotorWithEncoder::dynamicCallback	(	robotican_hardware_interface::RiCBoardConfig &	config,
		uint32_t	level
	)		[private]

Definition at line 288 of file RiCMotor.cpp.

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

Implements robotican_hardware::CloseLoopMotor.

Definition at line 243 of file RiCMotor.cpp.

void robotican_hardware::CloseLoopMotorWithEncoder::timerCallback

(

const ros::TimerEvent &

e

)

[private]

Definition at line 295 of file RiCMotor.cpp.

void robotican_hardware::CloseLoopMotorWithEncoder::write

(

)

[virtual]

Reimplemented from robotican_hardware::CloseLoopMotor.

Definition at line 259 of file RiCMotor.cpp.

---

Member Data Documentation

dynamic_reconfigure::Server<robotican_hardware_interface::RiCBoardConfig>::CallbackType robotican_hardware::CloseLoopMotorWithEncoder::_callbackType [private]

Definition at line 159 of file RiCMotor.h.

bool robotican_hardware::CloseLoopMotorWithEncoder::_isSetParam [private]

Definition at line 156 of file RiCMotor.h.

boost::recursive_mutex robotican_hardware::CloseLoopMotorWithEncoder::_mutex [private]

Definition at line 152 of file RiCMotor.h.

ros::NodeHandle robotican_hardware::CloseLoopMotorWithEncoder::_nodeHandle [private]

Reimplemented from robotican_hardware::Device.

Definition at line 151 of file RiCMotor.h.

CloseMotorWithEncoderParam robotican_hardware::CloseLoopMotorWithEncoder::_params [private]

Definition at line 150 of file RiCMotor.h.

dynamic_reconfigure::Server<robotican_hardware_interface::RiCBoardConfig> robotican_hardware::CloseLoopMotorWithEncoder::_server [private]

Definition at line 158 of file RiCMotor.h.

ros::AsyncSpinner robotican_hardware::CloseLoopMotorWithEncoder::_spinner [private]

Definition at line 153 of file RiCMotor.h.

ros::Publisher robotican_hardware::CloseLoopMotorWithEncoder::_statusPub [private]

Definition at line 154 of file RiCMotor.h.

ros::Timer robotican_hardware::CloseLoopMotorWithEncoder::_timer [private]

Definition at line 155 of file RiCMotor.h.

---

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

• RiCMotor.h
• RiCMotor.cpp