robotican_hardware::CloseLoopMotorWithPotentiometer Class Reference

#include <RiCMotor.h>

Inheritance diagram for robotican_hardware::CloseLoopMotorWithPotentiometer:

List of all members.

Public Member Functions
virtual void	buildDevice ()
	CloseLoopMotorWithPotentiometer (byte id, TransportLayer *transportLayer, byte motorAddress, byte eSwitchPin, byte eSwitchType, CloseMotorType::CloseMotorType motorType, CloseMotorMode::CloseMotorMode mode, CloseMotorWithPotentiometerParam motorParam, std::string jointName)
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)
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 K, float a, float b, float tolerance, uint16_t toleranceTime, float limit)
virtual void	update (const DeviceMessage *deviceMessage)
virtual void	write ()
Private Member Functions
void	dynamicCallback (robotican_hardware_interface::RiCBoardPotentiometerConfig &config, uint32_t level)
Private Attributes
dynamic_reconfigure::Server < robotican_hardware_interface::RiCBoardPotentiometerConfig > ::CallbackType	_callbackType
bool	_firstTime
bool	_isParamChange
boost::recursive_mutex	_mutex
ros::NodeHandle	_nodeHandle
CloseMotorWithPotentiometerParam	_param
dynamic_reconfigure::Server < robotican_hardware_interface::RiCBoardPotentiometerConfig >	_server

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Detailed Description

Definition at line 175 of file RiCMotor.h.

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Constructor & Destructor Documentation

robotican_hardware::CloseLoopMotorWithPotentiometer::CloseLoopMotorWithPotentiometer	(	byte	id,
		TransportLayer *	transportLayer,
		byte	motorAddress,
		byte	eSwitchPin,
		byte	eSwitchType,
		CloseMotorType::CloseMotorType	motorType,
		CloseMotorMode::CloseMotorMode	mode,
		CloseMotorWithPotentiometerParam	motorParam,
		std::string	jointName
	)

Definition at line 351 of file RiCMotor.cpp.

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Member Function Documentation

void robotican_hardware::CloseLoopMotorWithPotentiometer::buildDevice

(

)

[virtual]

Implements robotican_hardware::CloseLoopMotor.

Definition at line 307 of file RiCMotor.cpp.

void robotican_hardware::CloseLoopMotorWithPotentiometer::dynamicCallback	(	robotican_hardware_interface::RiCBoardPotentiometerConfig &	config,
		uint32_t	level
	)		[private]

Definition at line 409 of file RiCMotor.cpp.

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

Implements robotican_hardware::CloseLoopMotor.

Definition at line 302 of file RiCMotor.cpp.

void robotican_hardware::CloseLoopMotorWithPotentiometer::setParams	(	uint16_t	speedLpfHz,
		uint16_t	inputLpfHz,
		uint16_t	pidHz,
		float	speedLpfAlpha,
		float	inputLpfAlpha,
		float	KP,
		float	KI,
		float	KD,
		float	KFF,
		float	K,
		float	a,
		float	b,
		float	tolerance,
		uint16_t	toleranceTime,
		float	limit
	)		[virtual]

Definition at line 387 of file RiCMotor.cpp.

void robotican_hardware::CloseLoopMotorWithPotentiometer::update

(

const DeviceMessage *

deviceMessage

)

[virtual]

Reimplemented from robotican_hardware::CloseLoopMotor.

Definition at line 455 of file RiCMotor.cpp.

void robotican_hardware::CloseLoopMotorWithPotentiometer::write

(

)

[virtual]

Reimplemented from robotican_hardware::CloseLoopMotor.

Definition at line 418 of file RiCMotor.cpp.

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Member Data Documentation

dynamic_reconfigure::Server<robotican_hardware_interface::RiCBoardPotentiometerConfig>::CallbackType robotican_hardware::CloseLoopMotorWithPotentiometer::_callbackType [private]

Definition at line 184 of file RiCMotor.h.

bool robotican_hardware::CloseLoopMotorWithPotentiometer::_firstTime [private]

Definition at line 180 of file RiCMotor.h.

bool robotican_hardware::CloseLoopMotorWithPotentiometer::_isParamChange [private]

Definition at line 177 of file RiCMotor.h.

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

Definition at line 181 of file RiCMotor.h.

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

Reimplemented from robotican_hardware::Device.

Definition at line 179 of file RiCMotor.h.

CloseMotorWithPotentiometerParam robotican_hardware::CloseLoopMotorWithPotentiometer::_param [private]

Definition at line 178 of file RiCMotor.h.

dynamic_reconfigure::Server<robotican_hardware_interface::RiCBoardPotentiometerConfig> robotican_hardware::CloseLoopMotorWithPotentiometer::_server [private]

Definition at line 183 of file RiCMotor.h.

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

• RiCMotor.h
• RiCMotor.cpp