#include <md49_base_controller_class.h>

Public Member Functions
	BaseController ()
	Constructor for class BaseController. More...

void	cmd_vel_callback (const geometry_msgs::Twist &vel_cmd)
	This is the callback-function for topic /cmd_vel. More...

void	disable_regulator (void)
	This function disables regulator on MD49. More...

void	disable_timeout (void)
	This function disables Timeout on MD49. More...

void	enable_regulator (void)
	This function enables regulator on MD49. More...

void	enable_timeout (void)
	This function enables timeout on MD49. More...

int	get_acceleration ()
	This function reads the acceleration that is set from MD49. More...

int	get_actual_speed_l ()
	get_actual_speed_l More...

int	get_actual_speed_r ()
	get_actual_speed_r More...

int	get_current_l ()
	This function reads left drives current from MD49. More...

int	get_current_r ()
	This function reads right drives current from MD49. More...

void	get_encoders (void)
	This function reads encodervalues from MD49. More...

int	get_error ()
	This function reads error code from MD49. More...

int	get_initial_md49_acceleration ()
	get_initial_md49_acceleration More...

int	get_initial_md49_mode ()
	get_initial_md49_mode More...

int	get_initial_md49_regulator ()
	get_initial_md49_regulator More...

int	get_initial_md49_timeout ()
	get_initial_md49_timeout More...

int	get_mode ()
	This function reads the mode that is set from MD49. More...

int	get_requested_speed_l ()
	get_requested_speed_l More...

int	get_requested_speed_r ()
	get_requested_speed_r More...

int	get_speed_l ()
	This function reads left drives speed from MD49. More...

int	get_speed_r ()
	This function reads right drives speed from MD49. More...

int	get_volts ()
	This function reads supply voltage from MD49. More...

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. More...

void	open_serialport ()
	This function opens serial port MD49 is connected to. More...

void	publish_encoders ()
	This function reads encodervalues from MD49 and publishes them as topic /md49_encoders. More...

void	publish_md49_data ()
	This function reads data and parameters from MD49 and publishes them as topic /md49_data. More...

void	reset_encoders (void)
	This function resets encoders on MD49. More...

void	set_acceleration (int acceleration)
	This function sets acceleration on MD49. More...

void	set_actual_speed_l (int speed_l)
	set_actual_speed_l More...

void	set_actual_speed_r (int speed_r)
	set_actual_speed_r More...

void	set_mode (int mode)
	This function sets mode on MD49. More...

void	set_requested_speed_l (int speed_l)
	set_requested_speed_l More...

void	set_requested_speed_r (int speed_r)
	set_requested_speed_r More...

void	set_speed (int speed_l, int speed_r)
	This function sets speed for left and right drive on MD49. More...

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

BaseController::BaseController ( )

inline

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.

int BaseController::get_acceleration ( )

inline

This function reads the acceleration that is set from MD49.

Returns

Definition at line 203 of file md49_base_controller_class.h.

int BaseController::get_actual_speed_l ( )

inline

get_actual_speed_l

Returns

Definition at line 391 of file md49_base_controller_class.h.

int BaseController::get_actual_speed_r ( )

inline

get_actual_speed_r

Returns

Definition at line 399 of file md49_base_controller_class.h.

int BaseController::get_current_l ( )

inline

This function reads left drives current from MD49.

Returns

Definition at line 307 of file md49_base_controller_class.h.

int BaseController::get_current_r ( )

inline

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.

int BaseController::get_initial_md49_acceleration ( )

inline

get_initial_md49_acceleration

Returns

Definition at line 430 of file md49_base_controller_class.h.

int BaseController::get_initial_md49_mode ( )

inline

get_initial_md49_mode

Returns

Definition at line 423 of file md49_base_controller_class.h.

int BaseController::get_initial_md49_regulator ( )

inline

get_initial_md49_regulator

Returns

Definition at line 446 of file md49_base_controller_class.h.

int BaseController::get_initial_md49_timeout ( )

inline

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.

int BaseController::get_requested_speed_l ( )

inline

get_requested_speed_l

Returns

Definition at line 359 of file md49_base_controller_class.h.

int BaseController::get_requested_speed_r ( )

inline

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.

void BaseController::open_serialport ( )

inline

This function opens serial port MD49 is connected to.

Definition at line 62 of file md49_base_controller_class.h.

void BaseController::publish_encoders ( )

inline

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

Definition at line 75 of file md49_base_controller_class.h.

void BaseController::publish_md49_data ( )

inline

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

int BaseController::actual_speed_l

private

Definition at line 456 of file md49_base_controller_class.h.

int BaseController::actual_speed_r

private

buffers actual set speed_l and speed_r

Definition at line 456 of file md49_base_controller_class.h.

cereal::CerealPort BaseController::device

private

serialport

Definition at line 453 of file md49_base_controller_class.h.

int BaseController::initial_md49_acceleration

private

MD49 Acceleration, is read from parameters server

Definition at line 458 of file md49_base_controller_class.h.

int BaseController::initial_md49_mode

private

MD49 Mode, is read from parameters server

Definition at line 457 of file md49_base_controller_class.h.

bool BaseController::initial_md49_regulator

private

MD40 Regulator-Mode , is read from parameters server

Definition at line 460 of file md49_base_controller_class.h.

bool BaseController::initial_md49_timeout

private

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.

ros::Publisher BaseController::md49_data_pub

private

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.

ros::Publisher BaseController::md49_encoders_pub

private

Definition at line 467 of file md49_base_controller_class.h.

ros::NodeHandle BaseController::n

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.

int BaseController::requested_speed_l

private

Definition at line 455 of file md49_base_controller_class.h.

int BaseController::requested_speed_r

private

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.

int BaseController::serialport_bps

private

used baudrate, is read from parameters server

Definition at line 462 of file md49_base_controller_class.h.

ros::Subscriber BaseController::sub_cmd_vel

private

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_class.h

Public Member Functions

Public Attributes

Private Attributes

Detailed Description

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation