#include <DriveParam.h>

Public Member Functions
	DriveParam ()
double	getBeltRatio ()
double	getCurrMax ()
double	getCurrToTorque ()
int	getDriveIdent ()
int	getEncIncrPerRevMot ()
int	getEncOffset ()
double	getGearRatio ()
int	getHomingDigIn ()
bool	getIsSteer ()
double	getMaxAcc ()
double	getMaxDec ()
double	getMaxVel ()
int	getSign ()
double	getVelMax ()
int	PosGearRadToPosMotIncr (double dPosGearRad)
double	PosMotIncrToPosGearRad (int iPosIncr)
	Conversions of encoder increments to gear position in radians.
void	PosVelRadToIncr (double dPosRad, double dVelRadS, int piPosIncr, int piVelIncrPeriod)
void	setHomingDigIn (int HomingDigIn)
void	setMaxAcc (double dMaxAcc)
void	setMaxDec (double dMaxDec)
void	setMaxVel (double dMaxVel)
void	setParam (int iDriveIdent, int iEncIncrPerRevMot, double dVelMeasFrqHz, double dBeltRatio, double dGearRatio, int iSign, double dVelMaxEncIncrS, double dAccIncrS2, double dDecIncrS2)
void	setParam (int iDriveIdent, int iEncIncrPerRevMot, double dVelMeasFrqHz, double dBeltRatio, double dGearRatio, int iSign, double dVelMaxEncIncrS, double dAccIncrS2, double dDecIncrS2, int iEncOffsetIncr, bool bIsSteer, double dCurrToTorque, double dCurrMax)
void	setParam (int iDriveIdent, int iEncIncrPerRevMot, double dVelMeasFrqHz, double dBeltRatio, double dGearRatio, int iSign, double dVelMaxEncIncrS, double dAccIncrS2, double dDecIncrS2, int iEncOffsetIncr, bool bIsSteer, double dCurrToTorque, double dCurrMax, int iHomingDigIn)
int	TempMeasIncrToGradCel (int iTempIncr)
int	VelGearRadSToVelMotIncrPeriod (double dVelGearRadS)
	Conversions of gear velocity in rad/s to encoder increments per measurment period.
double	VelMotIncrPeriodToVelGearRadS (int iVelMotIncrPeriod)
	Conversions of encoder increments per measurment period to gear velocity in rad/s.
Private Attributes
bool	m_bIsSteer
double	m_dAccIncrS2
double	m_dBeltRatio
double	m_dCurrMax
double	m_dCurrToTorque
double	m_dDecIncrS2
double	m_dGearRatio
double	m_dPosGearRadToPosMotIncr
double	m_dVelMaxEncIncrS
double	m_dVelMeasFrqHz
int	m_iDriveIdent
int	m_iEncIncrPerRevMot
int	m_iEncOffsetIncr
int	m_iHomingDigIn
int	m_iSign

Detailed Description

Parameters and conversion functionality of a motor drive.

Definition at line 65 of file DriveParam.h.

Constructor & Destructor Documentation

DriveParam::DriveParam ( ) [inline]

Default constructor.

Definition at line 92 of file DriveParam.h.

Member Function Documentation

double DriveParam::getBeltRatio ( ) [inline]

Get the belt ratio.

Returns:: The belt ratio.

Definition at line 365 of file DriveParam.h.

double DriveParam::getCurrMax ( ) [inline]

Get maximum current allowed

Definition at line 405 of file DriveParam.h.

double DriveParam::getCurrToTorque ( ) [inline]

Get factor to convert motor active current [A] into torque [Nm]

Definition at line 398 of file DriveParam.h.

int DriveParam::getDriveIdent ( ) [inline]

Returns the identifier of the drive.

Definition at line 224 of file DriveParam.h.

int DriveParam::getEncIncrPerRevMot ( ) [inline]

Get the DriveType - If it's a Steering or Driving Motor

Returns:: the Encoderoffset

Definition at line 391 of file DriveParam.h.

int DriveParam::getEncOffset ( ) [inline]

Get the EncoderOffset

Returns:: the Encoderoffset

Definition at line 374 of file DriveParam.h.

double DriveParam::getGearRatio ( ) [inline]

Get the gear ratio.

Returns:: The gear ratio.

Definition at line 357 of file DriveParam.h.

int DriveParam::getHomingDigIn ( ) [inline]

Get digital Input for Homing signal

Definition at line 412 of file DriveParam.h.

bool DriveParam::getIsSteer ( ) [inline]

Get the DriveType - If it's a Steering or Driving Motor

Returns:: the Encoderoffset

Definition at line 383 of file DriveParam.h.

double DriveParam::getMaxAcc ( ) [inline]

Get the maximum acceleration.

Returns:: Maximum acceleration

Definition at line 312 of file DriveParam.h.

double DriveParam::getMaxDec ( ) [inline]

Get the maximum deceleration.

Returns:: Maximum deceleration

Definition at line 330 of file DriveParam.h.

double DriveParam::getMaxVel ( ) [inline]

Get the maximum velocity in increments per second.

Returns:: Maximum velocity [inc/sec].

Definition at line 348 of file DriveParam.h.

int DriveParam::getSign ( ) [inline]

Returns the sign for the motion direction.

Definition at line 232 of file DriveParam.h.

double DriveParam::getVelMax ( ) [inline]

Gets the maximum velocity of the drive in increments per second.

Definition at line 240 of file DriveParam.h.

int DriveParam::PosGearRadToPosMotIncr ( double dPosGearRad ) [inline]

Converts revolution angle form radian to encoder increments.

Parameters:

dPosGearRad angle in radian

Definition at line 276 of file DriveParam.h.

double DriveParam::PosMotIncrToPosGearRad ( int iPosIncr ) [inline]

Conversions of encoder increments to gear position in radians.

Definition at line 282 of file DriveParam.h.

void DriveParam::PosVelRadToIncr	(	double	dPosRad,
		double	dVelRadS,
		int *	piPosIncr,
		int *	piVelIncrPeriod
	)		`[inline]`

Converts position and velocity.

Parameters:

dPosRad	position in radiant
dVelRadS	velocity in radiant per seconds
piPosIncr	converted position in increments
piVelIncrPeriod	converted velocity in increments of period

Definition at line 252 of file DriveParam.h.

void DriveParam::setHomingDigIn ( int HomingDigIn ) [inline]

Set digital Input for Homing signal

Definition at line 419 of file DriveParam.h.

void DriveParam::setMaxAcc ( double dMaxAcc ) [inline]

Set the maximum acceleration.

Parameters:

dMaxAcc Maximum acceleration

Definition at line 303 of file DriveParam.h.

void DriveParam::setMaxDec ( double dMaxDec ) [inline]

Set the maximum deceleration.

Parameters:

dMaxAcc Maximum deceleration

Definition at line 321 of file DriveParam.h.

void DriveParam::setMaxVel ( double dMaxVel ) [inline]

Set the maximum velocity.

Parameters:

dMaxVel Maximum velocity

Definition at line 339 of file DriveParam.h.

void DriveParam::setParam	(	int	iDriveIdent,
		int	iEncIncrPerRevMot,
		double	dVelMeasFrqHz,
		double	dBeltRatio,
		double	dGearRatio,
		int	iSign,
		double	dVelMaxEncIncrS,
		double	dAccIncrS2,
		double	dDecIncrS2
	)		`[inline]`

Sets the drive parameters.

Parameters:

iDriveIdent	identifier for the drive
iEncIncrPerRevMot	encoder increments per revolution of the motor shaft
dVelMeasFrqHz	set this value to 1
dGearRatio	ratio of the gear
iSign	change -1 for changing the motion direction
dVelMaxEncIncrS	maximum velocity given in encoder increments per second
dAccIncrS2	acceleration in encoder increments per s^2
dDecIncrS2	deceleration in encoder increments per s^2

Definition at line 111 of file DriveParam.h.

void DriveParam::setParam	(	int	iDriveIdent,
		int	iEncIncrPerRevMot,
		double	dVelMeasFrqHz,
		double	dBeltRatio,
		double	dGearRatio,
		int	iSign,
		double	dVelMaxEncIncrS,
		double	dAccIncrS2,
		double	dDecIncrS2,
		int	iEncOffsetIncr,
		bool	bIsSteer,
		double	dCurrToTorque,
		double	dCurrMax
	)		`[inline]`

Definition at line 142 of file DriveParam.h.

void DriveParam::setParam	(	int	iDriveIdent,
		int	iEncIncrPerRevMot,
		double	dVelMeasFrqHz,
		double	dBeltRatio,
		double	dGearRatio,
		int	iSign,
		double	dVelMaxEncIncrS,
		double	dAccIncrS2,
		double	dDecIncrS2,
		int	iEncOffsetIncr,
		bool	bIsSteer,
		double	dCurrToTorque,
		double	dCurrMax,
		int	iHomingDigIn
	)		`[inline]`