Class Motor

Defined in File tmcl_motor.hpp

Inheritance Relationships

Derived Types

public BldcMotor (Class BldcMotor)
public StepperMotor (Class StepperMotor)

Class Documentation

class Motor

Copyright (c) 2023-2024 Analog Devices, Inc. All Rights Reserved. This software is proprietary to Analog Devices, Inc. and its licensors.

Subclassed by BldcMotor, StepperMotor

Public Functions

Motor(rclcpp::Node::SharedPtr p_node, TmclInterpreter *p_tmcl_interpreter, uint8_t motor_number, uint32_t module_number)

virtual ~Motor()

uint8_t getMotorNumber()

std::string getMotorName()

virtual void init()

Protected Functions

void initMotorParams()

void initPublisherParams()

virtual void cmdTrqSubscriberCallback(const std_msgs::msg::Int32::SharedPtr msg)

Protected Attributes

rclcpp::Node::SharedPtr p_node_

TmclInterpreter *p_tmcl_interpreter_

rclcpp::Publisher<adi_tmcl::msg::TmcInfo>::SharedPtr publisher_

rclcpp::TimerBase::SharedPtr publisher_timer_

rclcpp::Subscription<geometry_msgs::msg::Twist>::SharedPtr subscription_cmd_vel_

rclcpp::Subscription<std_msgs::msg::Int32>::SharedPtr subscription_cmd_abspos_

rclcpp::Subscription<std_msgs::msg::Int32>::SharedPtr subscription_cmd_relpos_

rclcpp::Subscription<std_msgs::msg::Int32>::SharedPtr subscription_cmd_trq_

bool param_en_pub_tmc_info_

std::string param_tmc_info_topic_

uint8_t param_pub_rate_tmc_info_

bool param_pub_actual_vel_

bool param_pub_actual_pos_

bool param_pub_actual_trq_

std::string param_tmc_cmd_vel_topic_

std::string param_tmc_cmd_abspos_topic_

std::string param_tmc_cmd_relpos_topic_

std::string param_tmc_cmd_trq_topic_

double param_wheel_diameter_

double param_additional_ratio_vel_

double param_additional_ratio_pos_

double param_additional_ratio_trq_

std::string param_comm_interface_name_

uint32_t module_number_

std::string tmc_info_frame_id_