Class Driver

Defined in File driver.hpp

Inheritance Relationships

Base Type

protected myactuator_rmd::Node< AddressOffset::request, AddressOffset::response > (Template Class Node)

Class Documentation

class Driver : protected myactuator_rmd::Node<AddressOffset::request, AddressOffset::response>

Driver for commanding the MyActuator RMD actuator series.

Public Functions

Driver(std::string const &ifname, std::uint32_t const actuator_id)

Driver() = delete

Class constructor.

Parameters:

ifname – [in] The name of the network interface that should communicated over
actuator_id – [in] The actuator id [1, 32]

Driver(Driver const&) = delete

Driver &operator=(Driver const&) = default

Driver(Driver&&) = default

Driver &operator=(Driver&&) = default

std::int32_t getAcceleration()

Reads the current acceleration.

Returns:: The current acceleration in dps with a resolution of 1 dps

std::uint16_t getCanId()

Get the CAN ID of the device.

Returns:: The CAN ID of the device starting at 0x240

Gains getControllerGains()

Reads the currently used controller gains.

Returns:: The currently used controller gains for current, speed and position as unsigned 8-bit integers

ControlMode getControlMode()

Reads the currently used control mode.

Returns:: The currently used control mode

std::string getMotorModel()

Reads the motor model currently in use by the actuator.

Returns:: The motor model string currently in use by the actuator, e.g. ‘X8S2V10’

float getMotorPower()

Reads the current motor power consumption in Watt.

Returns:: The current motor power consumption in Watt with a resolution of 0.1

MotorStatus1 getMotorStatus1()

Reads the motor status 1.

Returns:: The motor status 1 containing temperature, voltage and error codes

MotorStatus2 getMotorStatus2()

Reads the motor status 2.

Returns:: The motor status 2 containing current, speed and position

MotorStatus3 getMotorStatus3()

Reads the motor status 3.

Returns:: The motor status 3 containing detailed current information

float getMultiTurnAngle()

Read the multi-turn angle.

Returns:: The current multi-turn angle with a resolution of 0.01 deg

std::int32_t getMultiTurnEncoderPosition()

Read the multi-turn encoder position subtracted by the encoder multi-turn zero offset.

Returns:: The multi-turn encoder position

std::int32_t getMultiTurnEncoderOriginalPosition()

Read the raw multi-turn encoder position without taking into consideration the multi-turn zero offset.

Returns:: The multi-turn encoder position

std::int32_t getMultiTurnEncoderZeroOffset()

Read the multi-turn encoder zero offset.

Returns:: The multi-turn encoder zero offset

std::chrono::milliseconds getRuntime()

Reads the uptime of the actuator in milliseconds.

Returns:: The uptime of the actuator in milliseconds

float getSingleTurnAngle()

Read the single-turn angle.

Warning

This does not seem to give correct values with my X8-PRO V2 actuator!

Returns:: The current single-turn angle with a resolution of 0.01 deg

std::int16_t getSingleTurnEncoderPosition()

Read the single-turn encoder position.

Returns:: The single-turn encoder position

std::uint32_t getVersionDate()

Reads the version date of the actuator firmware.

Returns:: The version date of the firmware on the actuator, e.g. ‘20220206’

void lockBrake(): Close the holding brake. The motor won’t be able to turn anymore.

void releaseBrake(): Open the holding brake leaving the motor in a movable state.

void reset(): Reset the actuator.

Feedback sendCurrentSetpoint(float const current)

Send a current set-point to the actuator.

Parameters:: current – [in] The current set-point in Ampere [-20.00, 20.00]
Returns:: Feedback control message containing actuator position, velocity, torque and temperature

Feedback sendPositionAbsoluteSetpoint(float const position, float const max_speed = 500.0)

Send an absolute position set-point to the actuator additionally specifying a maximum velocity.

Parameters:

position – [in] The position set-point in degree [-360.00, 360.00]
max_speed – [in] The maximum speed for the motion in degree per second [-1320.0, 1320.0]

Returns:

Feedback control message containing actuator position, velocity, torque and temperature

Feedback sendTorqueSetpoint(float const torque, float const torque_constant = 2.09)

Send a torque set-point to the actuator by setting the current.

Parameters:

torque – [in] The desired torque in [Nm]
torque_constant – [in] The motor’s torque constant [Nm/A], depends on the model of the motor

Returns:

Feedback control message containing actuator position, velocity, torque and temperature

Feedback sendVelocitySetpoint(float const speed)

Send a velocity set-point to the actuator.

Parameters:: speed – [in] The speed set-point in degree per second [-1320.00, 1320.00]
Returns:: Feedback control message containing actuator position, velocity, torque and temperature

void setAcceleration(std::uint32_t const acceleration, AccelerationType const mode)

Write the acceleration/deceleration for the different modes to RAM and ROM (persistent)

Parameters:

acceleration – [in] The desired acceleration/deceleration in dps with a resolution of 1 dps/s [100, 60000]
mode – [in] The mode of the desired acceleration/deceleration to be set

void setBaudRate(BaudRate const baud_rate)

Set the communication Baud rate.

Parameters:: baud_rate – [in] Communication Baud rate that the actuator should operator with

void setCanId(std::uint16_t const can_id)

Set the CAN ID of the device.

Parameters:: can_id – [in] The CAN ID of the device in the range [1, 32]

std::int32_t setCurrentPositionAsEncoderZero()

Set the zero offset (initial position) of the encoder to the current position.

Warning

Motor has be restarted in order for this to become effective

Returns:: Current encoder position that was set to be zero

void setEncoderZero(std::int32_t const encoder_offset)

Set the zero offset (initial position) of the encoder to a given value.

Warning

Motor has be restarted in order for this to become effective

Parameters:: encoder_offset – [in] Encoder offset that should be set as zero

Gains setControllerGains(Gains const &gains, bool const is_persistent = false)

Write the currently used controller gains either to RAM (not persistent after reboot) or ROM (persistent)

Parameters:

gains – [in] The PI-gains for current, speed and position to be set
is_persistent – [in] Boolean argument signaling whether the controller gains should be persistent after reboot of the actuator or not

Returns:

The currently used controller gains for current, speed and position as unsigned 8-bit integers

void setTimeout(std::chrono::milliseconds const &timeout)

Set the communication interruption protection time setting. The break will be triggered if the communication is interrupted for longer than the set time. The value 0 disables this feature.

Parameters:: timeout – [in] The desired interruption protection time, 0 in case it should be disabled

void shutdownMotor(): Turn off the motor.

void stopMotor(): Stop the motor if running closed loop command.