canopen::MotorBase Class Reference

#include <base.h>

Inheritance diagram for canopen::MotorBase:

Classes
class	Allocator

Public Types
typedef std::shared_ptr< MotorBase >	MotorBaseSharedPtr
enum	OperationMode {   No_Mode = 0, Profiled_Position = 1, Velocity = 2, Profiled_Velocity = 3,   Profiled_Torque = 4, Reserved = 5, Homing = 6, Interpolated_Position = 7,   Cyclic_Synchronous_Position = 8, Cyclic_Synchronous_Velocity = 9, Cyclic_Synchronous_Torque = 10 }
Public Types inherited from canopen::Layer
enum	LayerState

Public Member Functions
virtual bool	enterModeAndWait (uint16_t mode)=0
virtual uint16_t	getMode ()=0
virtual bool	isModeSupported (uint16_t mode)=0
virtual void	registerDefaultModes (ObjectStorageSharedPtr storage)
virtual bool	setTarget (double val)=0
Public Member Functions inherited from canopen::Layer
void	diag (LayerReport &report)
LayerState	getLayerState ()
void	halt (LayerStatus &status)
void	init (LayerStatus &status)
	Layer (const std::string &n)
void	read (LayerStatus &status)
void	recover (LayerStatus &status)
void	shutdown (LayerStatus &status)
void	write (LayerStatus &status)
virtual	~Layer ()

Protected Member Functions
	MotorBase (const std::string &name)
Protected Member Functions inherited from canopen::Layer
virtual void	handleDiag (LayerReport &report)=0
virtual void	handleHalt (LayerStatus &status)=0
virtual void	handleInit (LayerStatus &status)=0
virtual void	handleRead (LayerStatus &status, const LayerState &current_state)=0
virtual void	handleRecover (LayerStatus &status)=0
virtual void	handleShutdown (LayerStatus &status)=0
virtual void	handleWrite (LayerStatus &status, const LayerState &current_state)=0

Additional Inherited Members
Public Attributes inherited from canopen::Layer
	Error
	Halt
	Init
const std::string	name
	Off
	Ready
	Recover
	Shutdown

Detailed Description

Definition at line 9 of file base.h.

Member Typedef Documentation

MotorBaseSharedPtr

typedef std::shared_ptr<MotorBase> canopen::MotorBase::MotorBaseSharedPtr

Definition at line 33 of file base.h.

Member Enumeration Documentation

OperationMode

enum canopen::MotorBase::OperationMode

Enumerator
No_Mode
Profiled_Position
Velocity
Profiled_Velocity
Profiled_Torque
Reserved
Homing
Interpolated_Position
Cyclic_Synchronous_Position
Cyclic_Synchronous_Velocity
Cyclic_Synchronous_Torque

Definition at line 13 of file base.h.

Constructor & Destructor Documentation

MotorBase()

canopen::MotorBase::MotorBase ( const std::string &  name )

inlineprotected

Definition at line 11 of file base.h.

Member Function Documentation

enterModeAndWait()

virtual bool canopen::MotorBase::enterModeAndWait ( uint16_t  mode )

pure virtual

Implemented in canopen::Motor402.

getMode()

virtual uint16_t canopen::MotorBase::getMode ( )

pure virtual

Implemented in canopen::Motor402.

isModeSupported()

virtual bool canopen::MotorBase::isModeSupported ( uint16_t  mode )

pure virtual

Implemented in canopen::Motor402.

registerDefaultModes()

virtual void canopen::MotorBase::registerDefaultModes ( ObjectStorageSharedPtr  storage )

inlinevirtual

Reimplemented in canopen::Motor402.

Definition at line 31 of file base.h.

setTarget()

virtual bool canopen::MotorBase::setTarget ( double  val )

pure virtual

Implemented in canopen::Motor402.

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

• base.h