#include <DriveParam.h>

Public Types
enum	TypeEncoder { ENCODER_NO, ENCODER_INCREMENTAL, ENCODER_ABSOLUTE }
Public Member Functions
double	convIncrPerPeriodToRadS (int iVelMotIncrPeriod)
	Conversions of encoder increments per measurment period to gear velocity in rad/s.
double	convIncrToRad (int iPosIncr)
	Conversions of encoder increments to wheel angle in radians.
void	convRadSToIncrPerPeriod (double dPosRad, double dVelRadS, int piPosIncr, int piVelIncrPeriod)
double	convRadSToIncrPerPeriod (double dVelWheelRadS)
	Conversions of gear velocity in rad/s to encoder increments per measurement period.
double	convRadToIncr (double dPosWheelRad)
	Conversions of wheel angle in radians to encoder increments.
	DriveParam ()
double	getAcc ()
int	getCANId ()
double	getDec ()
int	getDriveIdent ()
int	getEncoderIncr ()
int	getHomeDigIn ()
int	getHomeEvent ()
double	getHomePos ()
int	getHomeTimeOut ()
double	getHomeVel ()
bool	getHoming ()
int	getSign ()
int	getTypeEncoder ()
double	getVelMax ()
double	getVelPosMode ()
bool	isEnabled ()
void	set (int iDriveIdent, int iEncIncrPerRevMot, double dVelMeasFrqHz, double dBeltRatio, double dWheelRatio, int iSign, bool bHoming, double dHomePos, double dHomeVel, int iHomeEvent, int iHomeDigIn, int iHomeTimeOut, double dVelMaxEncIncrS, double dVelPModeEncIncrS, double dAccIncrS2, double dDecIncrS2, int iTypeEncoder, int iCANId, bool bUsePosMode, bool bEnabled)
void	setHoming (bool b)
int	TempMeasIncrToGradCel (int iTempIncr)
bool	usePosMode ()
Private Attributes
bool	m_bEnabled
bool	m_bHoming
bool	m_bUsePosMode
double	m_dAccIncrS2
double	m_dBeltRatio
double	m_dDecIncrS2
double	m_dGearRatio
double	m_dHomePos
double	m_dHomeVel
double	m_dRadToIncr
double	m_dVelMaxEncIncrS
double	m_dVelMeasFrqHz
double	m_dVelPModeEncIncrS
int	m_iCANId
int	m_iDriveIdent
int	m_iEncIncrPerRevMot
int	m_iHomeDigIn
int	m_iHomeEvent
int	m_iHomeTimeOut
int	m_iSign
int	m_iTypeEncoder

Detailed Description

Parameters and conversion functionality of a motor drive.

Definition at line 46 of file DriveParam.h.

Member Enumeration Documentation

enum DriveParam::TypeEncoder

Enumerator:

ENCODER_NO
ENCODER_INCREMENTAL
ENCODER_ABSOLUTE

Definition at line 50 of file DriveParam.h.

Constructor & Destructor Documentation

DriveParam::DriveParam ( ) [inline]

Definition at line 60 of file DriveParam.h.

Member Function Documentation

double DriveParam::convIncrPerPeriodToRadS ( int iVelMotIncrPeriod ) [inline]

Conversions of encoder increments per measurment period to gear velocity in rad/s.

Definition at line 265 of file DriveParam.h.

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

Conversions of encoder increments to wheel angle in radians.

Definition at line 253 of file DriveParam.h.

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

Converts position and velocity.

Parameters:

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

Definition at line 240 of file DriveParam.h.

double DriveParam::convRadSToIncrPerPeriod ( double dVelWheelRadS ) [inline]

Conversions of gear velocity in rad/s to encoder increments per measurement period.

Definition at line 259 of file DriveParam.h.

double DriveParam::convRadToIncr ( double dPosWheelRad ) [inline]

Conversions of wheel angle in radians to encoder increments.

Definition at line 247 of file DriveParam.h.

double DriveParam::getAcc ( ) [inline]

Definition at line 202 of file DriveParam.h.

int DriveParam::getCANId ( ) [inline]

Returns the CAN identifier of the drive.

Definition at line 137 of file DriveParam.h.

double DriveParam::getDec ( ) [inline]

Definition at line 207 of file DriveParam.h.

int DriveParam::getDriveIdent ( ) [inline]

Returns the identifier of the drive.

Definition at line 132 of file DriveParam.h.

int DriveParam::getEncoderIncr ( ) [inline]

Definition at line 217 of file DriveParam.h.

int DriveParam::getHomeDigIn ( ) [inline]

Definition at line 182 of file DriveParam.h.

int DriveParam::getHomeEvent ( ) [inline]

Definition at line 177 of file DriveParam.h.

double DriveParam::getHomePos ( ) [inline]

Definition at line 167 of file DriveParam.h.

int DriveParam::getHomeTimeOut ( ) [inline]

Definition at line 187 of file DriveParam.h.

double DriveParam::getHomeVel ( ) [inline]

Definition at line 172 of file DriveParam.h.

bool DriveParam::getHoming ( ) [inline]

Definition at line 157 of file DriveParam.h.

int DriveParam::getSign ( ) [inline]

Returns the sign for the motion direction.

Definition at line 142 of file DriveParam.h.

int DriveParam::getTypeEncoder ( ) [inline]

Definition at line 212 of file DriveParam.h.

double DriveParam::getVelMax ( ) [inline]

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

Definition at line 192 of file DriveParam.h.

double DriveParam::getVelPosMode ( ) [inline]

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

Definition at line 197 of file DriveParam.h.

bool DriveParam::isEnabled ( ) [inline]

Definition at line 147 of file DriveParam.h.

void DriveParam::set	(	int	iDriveIdent,
		int	iEncIncrPerRevMot,
		double	dVelMeasFrqHz,
		double	dBeltRatio,
		double	dWheelRatio,
		int	iSign,
		bool	bHoming,
		double	dHomePos,
		double	dHomeVel,
		int	iHomeEvent,
		int	iHomeDigIn,
		int	iHomeTimeOut,
		double	dVelMaxEncIncrS,
		double	dVelPModeEncIncrS,
		double	dAccIncrS2,
		double	dDecIncrS2,
		int	iTypeEncoder,
		int	iCANId,
		bool	bUsePosMode,
		bool	bEnabled
	)		`[inline]`