Class blmc_drivers::Motor

class Motor : public blmc_drivers::MotorInterface, public blmc_drivers::MotorInterface

This class implements the MotorInterface.

Subclassed by blmc_drivers::SafeMotor, blmc_drivers::SafeMotor

Public Functions

Motor(Ptr<MotorBoardInterface> board, bool motor_id)

Construct a new Motor object.

Parameters:

• board – is the MotorBoard to be used.

• motor_id – is the id of the motor on the on-board card

inline virtual ~Motor()

Destroy the Motor object.

inline virtual void send_if_input_changed()

Actually send the command and controls via the network, See MotorInterface for more information.

virtual Ptr<const ScalarTimeseries> get_measurement(const int &index = 0) const

Getters.

Get the measurements

Parameters:

index – is the kind of measurement we are instersted in. see MotorInterface::MeasurementIndex.

Returns:

Ptr<const ScalarTimeseries> The history of the measurement

virtual Ptr<const ScalarTimeseries> get_current_target() const

Get the current target to be sent.

Returns:

Ptr<const ScalarTimeseries> the list of current values to be sent.

virtual Ptr<const ScalarTimeseries> get_sent_current_target() const

Get the already sent current target values.

Returns:

Ptr<const ScalarTimeseries>

virtual void set_current_target(const double &current_target)

Setters.

Set the current (Ampere) target. See MotorInterface for more information.

Parameters:

current_target – in Ampere

inline virtual void set_command(const MotorBoardCommand &command)

Set the command.

See MotorInterface for more information.

Parameters:

command –

virtual void print() const

Print the motor status and state.

Motor(Ptr<MotorBoardInterface> board, bool motor_id)

Construct a new Motor object.

Parameters:

• board – is the MotorBoard to be used.

• motor_id – is the id of the motor on the on-board card

inline virtual ~Motor()

Destroy the Motor object.

inline virtual void send_if_input_changed()

Actually send the command and controls via the network, See MotorInterface for more information.

virtual Ptr<const ScalarTimeseries> get_measurement(const int &index = 0) const

Getters.

Get the measurements

Parameters:

index – is the kind of measurement we are instersted in. see MotorInterface::MeasurementIndex.

Returns:

Ptr<const ScalarTimeseries> The history of the measurement

virtual Ptr<const ScalarTimeseries> get_current_target() const

Get the current target to be sent.

Returns:

Ptr<const ScalarTimeseries> the list of current values to be sent.

virtual Ptr<const ScalarTimeseries> get_sent_current_target() const

Get the already sent current target values.

Returns:

Ptr<const ScalarTimeseries>

virtual void set_current_target(const double &current_target)

Setters.

Set the current (Ampere) target. See MotorInterface for more information.

Parameters:

current_target – in Ampere

inline virtual void set_command(const MotorBoardCommand &command)

Set the command.

See MotorInterface for more information.

Parameters:

command –

virtual void print() const

Print the motor status and state.