Class blmc_drivers::MotorBoardStatus¶
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class MotorBoardStatus¶
This class represent a 8 bits message that describe the state (enable/disabled) of the card and the two motors.
Public Types
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enum ErrorCodes¶
This is the list of the error codes.
Values:
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enumerator NONE¶
No error.
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enumerator ENCODER¶
Encoder error too high.
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enumerator CAN_RECV_TIMEOUT¶
Timeout for receiving current references exceeded.
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enumerator CRIT_TEMP¶
Motor temperature reached critical value.
Note
This is currently unused as no temperature sensing is done.
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enumerator POSCONV¶
Some error in the SpinTAC Position Convert module.
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enumerator POS_ROLLOVER¶
Position Rollover occured.
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enumerator OTHER¶
Some other error.
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enumerator NONE
No error.
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enumerator ENCODER
Encoder error too high.
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enumerator CAN_RECV_TIMEOUT
Timeout for receiving current references exceeded.
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enumerator CRIT_TEMP
Motor temperature reached critical value.
Note
This is currently unused as no temperature sensing is done.
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enumerator POSCONV
Some error in the SpinTAC Position Convert module.
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enumerator POS_ROLLOVER
Position Rollover occured.
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enumerator OTHER
Some other error.
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enumerator NONE¶
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enum ErrorCodes
This is the list of the error codes.
Values:
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enumerator NONE
No error.
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enumerator ENCODER
Encoder error too high.
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enumerator CAN_RECV_TIMEOUT
Timeout for receiving current references exceeded.
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enumerator CRIT_TEMP
Motor temperature reached critical value.
Note
This is currently unused as no temperature sensing is done.
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enumerator POSCONV
Some error in the SpinTAC Position Convert module.
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enumerator POS_ROLLOVER
Position Rollover occured.
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enumerator OTHER
Some other error.
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enumerator NONE
No error.
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enumerator ENCODER
Encoder error too high.
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enumerator CAN_RECV_TIMEOUT
Timeout for receiving current references exceeded.
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enumerator CRIT_TEMP
Motor temperature reached critical value.
Note
This is currently unused as no temperature sensing is done.
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enumerator POSCONV
Some error in the SpinTAC Position Convert module.
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enumerator POS_ROLLOVER
Position Rollover occured.
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enumerator OTHER
Some other error.
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enumerator NONE
Public Functions
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inline void print() const¶
Simply print the status of the motor board.
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inline bool is_ready() const¶
Check if the all status are green.
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inline std::string_view get_error_description() const¶
Get a human-readable description of the error code.
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inline void print() const
Simply print the status of the motor board.
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inline bool is_ready() const
Check if the all status are green.
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inline std::string_view get_error_description() const
Get a human-readable description of the error code.
Public Members
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uint8_t system_enabled¶
These are the list of bits of the message.
Bits 0 enables/disable of the system (motor board).
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uint8_t motor1_enabled¶
Bits 1 enables/disable of the motor 1.
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uint8_t motor1_ready¶
Bits 2 checks if the motor 1 is ready or not.
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uint8_t motor2_enabled¶
Bits 3 enables/disable of the motor 2.
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uint8_t motor2_ready¶
Bits 4 checks if the motor 2 is ready or not.
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uint8_t error_code¶
This encodes the error codes.
See “ErrorCodes” for more details.
Public Static Functions
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static inline constexpr std::string_view get_error_description(uint8_t error_code)¶
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static inline constexpr std::string_view get_error_description(uint8_t error_code)
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enum ErrorCodes¶