Public Member Functions | Public Attributes | Private Attributes
BaseController Class Reference

#include <md49_base_controller_class.h>

List of all members.

Public Member Functions

 BaseController ()
 Constructor for class BaseController.
void cmd_vel_callback (const geometry_msgs::Twist &vel_cmd)
 This is the callback-function for topic /cmd_vel.
void disable_regulator (void)
 This function disables regulator on MD49.
void disable_timeout (void)
 This function disables Timeout on MD49.
void enable_regulator (void)
 This function enables regulator on MD49.
void enable_timeout (void)
 This function enables timeout on MD49.
int get_acceleration ()
 This function reads the acceleration that is set from MD49.
int get_actual_speed_l ()
 get_actual_speed_l
int get_actual_speed_r ()
 get_actual_speed_r
int get_current_l ()
 This function reads left drives current from MD49.
int get_current_r ()
 This function reads right drives current from MD49.
void get_encoders (void)
 This function reads encodervalues from MD49.
int get_error ()
 This function reads error code from MD49.
int get_initial_md49_acceleration ()
 get_initial_md49_acceleration
int get_initial_md49_mode ()
 get_initial_md49_mode
int get_initial_md49_regulator ()
 get_initial_md49_regulator
int get_initial_md49_timeout ()
 get_initial_md49_timeout
int get_mode ()
 This function reads the mode that is set from MD49.
int get_requested_speed_l ()
 get_requested_speed_l
int get_requested_speed_r ()
 get_requested_speed_r
int get_speed_l ()
 This function reads left drives speed from MD49.
int get_speed_r ()
 This function reads right drives speed from MD49.
int get_volts ()
 This function reads supply voltage from MD49.
void init_md49 (int speed_l, int speed_r, int mode, int acceleration, bool timeout, bool regulator)
 This function sets parameters for MD49 as read from config file or as set as defaults.
void open_serialport ()
 This function opens serial port MD49 is connected to.
void publish_encoders ()
 This function reads encodervalues from MD49 and publishes them as topic /md49_encoders.
void publish_md49_data ()
 This function reads data and parameters from MD49 and publishes them as topic /md49_data.
void reset_encoders (void)
 This function resets encoders on MD49.
void set_acceleration (int acceleration)
 This function sets acceleration on MD49.
void set_actual_speed_l (int speed_l)
 set_actual_speed_l
void set_actual_speed_r (int speed_r)
 set_actual_speed_r
void set_mode (int mode)
 This function sets mode on MD49.
void set_requested_speed_l (int speed_l)
 set_requested_speed_l
void set_requested_speed_r (int speed_r)
 set_requested_speed_r
void set_speed (int speed_l, int speed_r)
 This function sets speed for left and right drive on MD49.

Public Attributes

ros::NodeHandle n

Private Attributes

int actual_speed_l
int actual_speed_r
cereal::CerealPort device
int initial_md49_acceleration
int initial_md49_mode
bool initial_md49_regulator
bool initial_md49_timeout
md49_messages::md49_data md49_data
ros::Publisher md49_data_pub
md49_messages::md49_encoders md49_encoders
ros::Publisher md49_encoders_pub
char reply [8]
int requested_speed_l
int requested_speed_r
std::string serialport
int serialport_bps
ros::Subscriber sub_cmd_vel

Detailed Description

Definition at line 6 of file md49_base_controller_class.h.


Constructor & Destructor Documentation

Constructor for class BaseController.

Definition at line 15 of file md49_base_controller_class.h.


Member Function Documentation

void BaseController::cmd_vel_callback ( const geometry_msgs::Twist &  vel_cmd) [inline]

This is the callback-function for topic /cmd_vel.

Parameters:
vel_cmd

Definition at line 39 of file md49_base_controller_class.h.

void BaseController::disable_regulator ( void  ) [inline]

This function disables regulator on MD49.

Definition at line 193 of file md49_base_controller_class.h.

void BaseController::disable_timeout ( void  ) [inline]

This function disables Timeout on MD49.

Definition at line 184 of file md49_base_controller_class.h.

void BaseController::enable_regulator ( void  ) [inline]

This function enables regulator on MD49.

Definition at line 175 of file md49_base_controller_class.h.

void BaseController::enable_timeout ( void  ) [inline]

This function enables timeout on MD49.

Definition at line 166 of file md49_base_controller_class.h.

This function reads the acceleration that is set from MD49.

Returns:

Definition at line 203 of file md49_base_controller_class.h.

get_actual_speed_l

Returns:

Definition at line 391 of file md49_base_controller_class.h.

get_actual_speed_r

Returns:

Definition at line 399 of file md49_base_controller_class.h.

This function reads left drives current from MD49.

Returns:

Definition at line 307 of file md49_base_controller_class.h.

This function reads right drives current from MD49.

Returns:

Definition at line 321 of file md49_base_controller_class.h.

void BaseController::get_encoders ( void  ) [inline]

This function reads encodervalues from MD49.

Definition at line 258 of file md49_base_controller_class.h.

int BaseController::get_error ( ) [inline]

This function reads error code from MD49.

Returns:

Definition at line 335 of file md49_base_controller_class.h.

get_initial_md49_acceleration

Returns:

Definition at line 430 of file md49_base_controller_class.h.

get_initial_md49_mode

Returns:

Definition at line 423 of file md49_base_controller_class.h.

get_initial_md49_regulator

Returns:

Definition at line 446 of file md49_base_controller_class.h.

get_initial_md49_timeout

Returns:

Definition at line 438 of file md49_base_controller_class.h.

int BaseController::get_mode ( ) [inline]

This function reads the mode that is set from MD49.

Returns:

Definition at line 217 of file md49_base_controller_class.h.

get_requested_speed_l

Returns:

Definition at line 359 of file md49_base_controller_class.h.

get_requested_speed_r

Returns:

Definition at line 367 of file md49_base_controller_class.h.

int BaseController::get_speed_l ( ) [inline]

This function reads left drives speed from MD49.

Returns:

Definition at line 231 of file md49_base_controller_class.h.

int BaseController::get_speed_r ( ) [inline]

This function reads right drives speed from MD49.

Returns:

Definition at line 245 of file md49_base_controller_class.h.

int BaseController::get_volts ( ) [inline]

This function reads supply voltage from MD49.

Returns:

Definition at line 293 of file md49_base_controller_class.h.

void BaseController::init_md49 ( int  speed_l,
int  speed_r,
int  mode,
int  acceleration,
bool  timeout,
bool  regulator 
) [inline]

This function sets parameters for MD49 as read from config file or as set as defaults.

Parameters:
speed_l
speed_r
mode
acceleration
timeout
regulator

Definition at line 106 of file md49_base_controller_class.h.

This function opens serial port MD49 is connected to.

Definition at line 62 of file md49_base_controller_class.h.

This function reads encodervalues from MD49 and publishes them as topic /md49_encoders.

Definition at line 75 of file md49_base_controller_class.h.

This function reads data and parameters from MD49 and publishes them as topic /md49_data.

Definition at line 84 of file md49_base_controller_class.h.

void BaseController::reset_encoders ( void  ) [inline]

This function resets encoders on MD49.

Definition at line 349 of file md49_base_controller_class.h.

void BaseController::set_acceleration ( int  acceleration) [inline]

This function sets acceleration on MD49.

Parameters:
acceleration

Definition at line 157 of file md49_base_controller_class.h.

void BaseController::set_actual_speed_l ( int  speed_l) [inline]

set_actual_speed_l

Parameters:
speed_l

Definition at line 407 of file md49_base_controller_class.h.

void BaseController::set_actual_speed_r ( int  speed_r) [inline]

set_actual_speed_r

Parameters:
speed_r

Definition at line 415 of file md49_base_controller_class.h.

void BaseController::set_mode ( int  mode) [inline]

This function sets mode on MD49.

Parameters:
mode

Definition at line 147 of file md49_base_controller_class.h.

void BaseController::set_requested_speed_l ( int  speed_l) [inline]

set_requested_speed_l

Parameters:
speed_l

Definition at line 375 of file md49_base_controller_class.h.

void BaseController::set_requested_speed_r ( int  speed_r) [inline]

set_requested_speed_r

Parameters:
speed_r

Definition at line 383 of file md49_base_controller_class.h.

void BaseController::set_speed ( int  speed_l,
int  speed_r 
) [inline]

This function sets speed for left and right drive on MD49.

Parameters:
speed_l
speed_r

Definition at line 133 of file md49_base_controller_class.h.


Member Data Documentation

Definition at line 456 of file md49_base_controller_class.h.

buffers actual set speed_l and speed_r

Definition at line 456 of file md49_base_controller_class.h.

serialport

Definition at line 453 of file md49_base_controller_class.h.

MD49 Acceleration, is read from parameters server

Definition at line 458 of file md49_base_controller_class.h.

MD49 Mode, is read from parameters server

Definition at line 457 of file md49_base_controller_class.h.

MD40 Regulator-Mode , is read from parameters server

Definition at line 460 of file md49_base_controller_class.h.

MD49 Timeout-Mode, is read from parameters server

Definition at line 459 of file md49_base_controller_class.h.

md49_messages::md49_data BaseController::md49_data [private]

topic /md49_data

Definition at line 465 of file md49_base_controller_class.h.

Definition at line 468 of file md49_base_controller_class.h.

md49_messages::md49_encoders BaseController::md49_encoders [private]

topic /md49_encoders

Definition at line 466 of file md49_base_controller_class.h.

Definition at line 467 of file md49_base_controller_class.h.

Definition at line 10 of file md49_base_controller_class.h.

char BaseController::reply[8] [private]

Definition at line 454 of file md49_base_controller_class.h.

Definition at line 455 of file md49_base_controller_class.h.

requested speed_l and speed_r for MD49

Definition at line 455 of file md49_base_controller_class.h.

std::string BaseController::serialport [private]

used serialport on pcDuino, is read from parameters server

Definition at line 461 of file md49_base_controller_class.h.

used baudrate, is read from parameters server

Definition at line 462 of file md49_base_controller_class.h.

Definition at line 464 of file md49_base_controller_class.h.


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


md49_base_controller
Author(s): Fabian Prinzing
autogenerated on Thu Feb 11 2016 23:25:32