Namespace blmc_drivers

namespace blmc_drivers

This namespace is the standard namespace of the package.

Typedefs

typedef std::shared_ptr<blmc_drivers::SafeMotor> SafeMotor_ptr

This is a simple shortcut.

typedef std::shared_ptr<blmc_drivers::AnalogSensor> Slider_ptr

This is a simple shortcut.

typedef std::pair<SafeMotor_ptr, Slider_ptr> PairMotorSlider

This is a simple shortcut.

typedef blmc_drivers::MotorInterface::MeasurementIndex mi
typedef std::shared_ptr<BlmcJointModule> BlmcJointModule_ptr

BlmcJointModule_ptr shortcut for the shared pointer BlmcJointModule type.

Enums

enum class HomingReturnCode

Possible return values of the homing.

Values:

enumerator NOT_INITIALIZED

Homing was not initialized and can therefore not be performed.

enumerator RUNNING

Homing is currently running.

enumerator SUCCEEDED

Homing is succeeded.

enumerator FAILED

Homing failed.

enumerator NOT_INITIALIZED

Homing was not initialized and can therefore not be performed.

enumerator RUNNING

Homing is currently running.

enumerator SUCCEEDED

Homing is succeeded.

enumerator FAILED

Homing failed.

enum class GoToReturnCode

Possible return values of the go_to.

Values:

enumerator RUNNING

GoTo is currently running.

enumerator SUCCEEDED

Position has been reached succeeded.

enumerator FAILED

Robot is stuck(hit an obstacle) before reaching its final position.

enumerator RUNNING

GoTo is currently running.

enumerator SUCCEEDED

Position has been reached succeeded.

enumerator FAILED

Robot is stuck(hit an obstacle) before reaching its final position.

enum class HomingReturnCode

Possible return values of the homing.

Values:

enumerator NOT_INITIALIZED

Homing was not initialized and can therefore not be performed.

enumerator RUNNING

Homing is currently running.

enumerator SUCCEEDED

Homing is succeeded.

enumerator FAILED

Homing failed.

enumerator NOT_INITIALIZED

Homing was not initialized and can therefore not be performed.

enumerator RUNNING

Homing is currently running.

enumerator SUCCEEDED

Homing is succeeded.

enumerator FAILED

Homing failed.

enum class GoToReturnCode

Possible return values of the go_to.

Values:

enumerator RUNNING

GoTo is currently running.

enumerator SUCCEEDED

Position has been reached succeeded.

enumerator FAILED

Robot is stuck(hit an obstacle) before reaching its final position.

enumerator RUNNING

GoTo is currently running.

enumerator SUCCEEDED

Position has been reached succeeded.

enumerator FAILED

Robot is stuck(hit an obstacle) before reaching its final position.

Functions

template<typename Type>
std::vector<std::shared_ptr<Type>> create_vector_of_pointers(const size_t &size, const size_t &length)

Create a vector of pointers.

Template Parameters:

Type – of the data

Parameters:

  • size – is number of pointers to be created.

  • length – is the dimension of the data arrays.

Returns:

Vector<Ptr<Type>> which is the a list of list of data of type Type

class ConstTorqueControl
#include <const_torque_control.hpp>

This is a basic PD controller to be used in the demos of this package.

Public Functions

inline ConstTorqueControl(std::vector<SafeMotor_ptr> motor_list)

Construct a new ConstTorqueControl object.

Parameters:

motor_slider_pairs –

inline ~ConstTorqueControl()

Destroy the ConstTorqueControl object.

inline void start_loop()

This method is a helper to start the thread loop.

void stop_loop()

Stop the control and dump the data.

class PDController
#include <pd_control.hpp>

This is a basic PD controller to be used in the demos of this package.

Public Functions

inline PDController(std::vector<PairMotorSlider> motor_slider_pairs)

Construct a new PDController object.

Parameters:

motor_slider_pairs –

inline ~PDController()

Destroy the PDController object.

inline void start_loop()

This method is a helper to start the thread loop.

class SinePositionControl
#include <sine_position_control.hpp>

This is a basic PD controller to be used in the demos of this package.

Public Functions

inline SinePositionControl(std::vector<SafeMotor_ptr> motor_list)

Construct a new SinePositionControl object.

Parameters:

motor_slider_pairs –

inline ~SinePositionControl()

Destroy the SinePositionControl object.

inline void start_loop()

This method is a helper to start the thread loop.

void stop_loop()

Stop the control and dump the data.

inline void set_gains(double kp, double kd)
class SineTorqueControl
#include <sine_torque_control.hpp>

This is a basic PD controller to be used in the demos of this package.

Public Functions

inline SineTorqueControl(std::vector<SafeMotor_ptr> motor_list)

Construct a new SineTorqueControl object.

Parameters:

motor_slider_pairs –

inline ~SineTorqueControl()

Destroy the SineTorqueControl object.

inline void start_loop()

This method is a helper to start the thread loop.

void stop_loop()

Stop the control and dump the data.

struct HomingState
#include <blmc_joint_module.hpp>

State variables required for the homing.

Public Members

int joint_id = 0

Id of the joint. Just used for debug prints.

double search_distance_limit_rad = 0.0

Max. distance to move while searching the encoder index.

double home_offset_rad = 0.0

Offset from home position to zero position.

double profile_step_size_rad = 0.0

Step size for the position profile.

long int last_encoder_index_time_index = 0

Timestamp from when the encoder index was seen the last time.

uint32_t step_count = 0

Number of profile steps already taken.

double target_position_rad = 0.0

Current target position of the position profile.

HomingReturnCode status = HomingReturnCode::NOT_INITIALIZED

Current status of the homing procedure.

double start_position

Position at which homing is started.

double end_position

Position at which homing is ended (before resetting position).

This is only set when status is SUCCEEDED. Together with start_position it can be used to determine the distance the joint travelled during the homing procedure (e.g. useful for home offset calibration).

class BlmcJointModule
#include <blmc_joint_module.hpp>

The BlmcJointModule class is containing the joint information.

It is here to help converting the data from the motor side to the joint side. It also allows the calibration of the joint position during initialization.

Public Functions

BlmcJointModule(std::shared_ptr<blmc_drivers::MotorInterface> motor, const double &motor_constant, const double &gear_ratio, const double &zero_angle, const bool &reverse_polarity = false, const double &max_current = 2.1)

Construct a new BlmcJointModule object.

Parameters:

  • motor – is the C++ object allowing us to send commands and receive sensor data.

  • motor_constant – ( \( k \)) is the torque constant of the motor \( \tau_{motor} = k * i_{motor} \)

  • gear_ratio – is the gear ratio between the motor and the joint.

  • zero_angle – is the angle between the closest positive motor index and the zero configuration.

  • reverse_polarity –

  • max_current –

void set_torque(const double &desired_torque)

Set the joint torque to be sent.

Parameters:

desired_torque – (Nm)

void set_zero_angle(const double &zero_angle)

Set the zero_angle.

The zero_angle is the angle between the closest positive motor index and the zero configuration.

Parameters:

zero_angle – (rad)

void set_joint_polarity(const bool &reverse_polarity)

Define if the motor should turn clock-wize or counter clock-wize.

Parameters:

reverse_polarity – true:reverse rotation axis, false:do nothing.

void send_torque()

send the joint torque to the motor.

The conversion between joint torque and motor current is done automatically.

double get_max_torque() const

Get the maximum admissible joint torque that can be applied.

Returns:

double

double get_sent_torque() const

Get the sent joint torque.

Returns:

double (Nm).

double get_measured_torque() const

Get the measured joint torque.

Returns:

double (Nm).

double get_measured_angle() const

Get the measured angle of the joint.

Returns:

double (rad).

double get_measured_velocity() const

Get the measured velocity of the joint.

This data is computed on board of the control card.

Returns:

double (rad/s).

double get_measured_index_angle() const

Get the measured index angle.

There is one index per motor rotation so there are gear_ratio indexes per joint rotation.

Returns:

double (rad).

double get_zero_angle() const

Get the zero_angle_.

These are the angle between the starting pose and the theoretical zero pose.

Returns:

double (rad).

void set_position_control_gains(double kp, double kd)

Set control gains for PD position controller.

Parameters:

  • kp – P gain ( (Nm) / rad ).

  • kd – D gain ( (Nm) / (rad/s) ).

double execute_position_controller(double target_position_rad) const

Execute one iteration of the position controller.

Parameters:

target_position_rad – Target position (rad).

Returns:

Torque command (Nm).

bool calibrate(double &angle_zero_to_index, double &index_angle, bool mechanical_calibration = false)

This method calibrate the joint position knowing the angle between the closest (in positive torque) motor index and the theoretical zero pose.

Deprecated:

!!!!!!!

Warning, this method should be called in a real time thread!

Param :

void homing_at_current_position(double home_offset_rad)

Set zero position relative to current position.

Parameters:

home_offset_rad – Offset from home position to zero position. Unit: radian.

void init_homing(int joint_id, double search_distance_limit_rad, double home_offset_rad, double profile_step_size_rad = 0.001)

Initialize the homing procedure.

This has to be called before update_homing().

Parameters:

  • joint_id – ID of the joint. This is only used for debug prints.

  • search_distance_limit_rad – Maximum distance the motor moves while searching for the encoder index. Unit: radian.

  • home_offset_rad – Offset from home position to zero position. Unit: radian.

  • profile_step_size_rad – Distance by which the target position of the position profile is changed in each step. Set to a negative value to search for the next encoder index in negative direction. Unit: radian.

HomingReturnCode update_homing()

Perform one step of homing on encoder index.

Searches for the next encoder index in positive direction and, when found, sets it as home position.

Only performs one step, so this method needs to be called in a loop. This method only set the control, one MUST send the control for the motor after calling this method.

The motor is moved with a position profile until either the encoder index is reached or the search distance limit is exceeded. The position is controlled with a simple PD controller.

If the encoder index is found, its position is used as home position. The zero position is offset from the home position by adding the “home

offset” to it (i.e. zero = home pos. + home offset). If the search distance limit is reached before the encoder index occurs, the homing fails.

Returns:

Status of the homing procedure.

double get_distance_travelled_during_homing() const

Get distance between start and end position of homing.

Compute the distance that the joint moved between initialization of homing and reaching the home position.

This can be used to determine the home offset by first moving the joint to the desired zero position, then executing the homing and finally calling this function which will provide the desired home offset.

Returns:

Distance between start and end position of homing.

BlmcJointModule(std::shared_ptr<blmc_drivers::MotorInterface> motor, const double &motor_constant, const double &gear_ratio, const double &zero_angle, const bool &reverse_polarity = false, const double &max_current = 2.1)

Construct a new BlmcJointModule object.

Parameters:

  • motor – is the C++ object allowing us to send commands and receive sensor data.

  • motor_constant – ( \( k \)) is the torque constant of the motor \( \tau_{motor} = k * i_{motor} \)

  • gear_ratio – is the gear ratio between the motor and the joint.

  • zero_angle – is the angle between the closest positive motor index and the zero configuration.

  • reverse_polarity –

  • max_current –

void set_torque(const double &desired_torque)

Set the joint torque to be sent.

Parameters:

desired_torque – (Nm)

void set_zero_angle(const double &zero_angle)

Set the zero_angle.

The zero_angle is the angle between the closest positive motor index and the zero configuration.

Parameters:

zero_angle – (rad)

void set_joint_polarity(const bool &reverse_polarity)

Define if the motor should turn clock-wize or counter clock-wize.

Parameters:

reverse_polarity – true:reverse rotation axis, false:do nothing.

void send_torque()

send the joint torque to the motor.

The conversion between joint torque and motor current is done automatically.

double get_max_torque() const

Get the maximum admissible joint torque that can be applied.

Returns:

double

double get_sent_torque() const

Get the sent joint torque.

Returns:

double (Nm).

double get_measured_torque() const

Get the measured joint torque.

Returns:

double (Nm).

double get_measured_angle() const

Get the measured angle of the joint.

Returns:

double (rad).

double get_measured_velocity() const

Get the measured velocity of the joint.

This data is computed on board of the control card.

Returns:

double (rad/s).

double get_measured_index_angle() const

Get the measured index angle.

There is one index per motor rotation so there are gear_ratio indexes per joint rotation.

Returns:

double (rad).

double get_zero_angle() const

Get the zero_angle_.

These are the angle between the starting pose and the theoretical zero pose.

Returns:

double (rad).

void set_position_control_gains(double kp, double kd)

Set control gains for PD position controller.

Parameters:

  • kp – P gain ( (Nm) / rad ).

  • kd – D gain ( (Nm) / (rad/s) ).

double execute_position_controller(double target_position_rad) const

Execute one iteration of the position controller.

Parameters:

target_position_rad – Target position (rad).

Returns:

Torque command (Nm).

bool calibrate(double &angle_zero_to_index, double &index_angle, bool mechanical_calibration = false)

This method calibrate the joint position knowing the angle between the closest (in positive torque) motor index and the theoretical zero pose.

Deprecated:

!!!!!!!

Warning, this method should be called in a real time thread!

Param :

void homing_at_current_position(double home_offset_rad)

Set zero position relative to current position.

Parameters:

home_offset_rad – Offset from home position to zero position. Unit: radian.

void init_homing(int joint_id, double search_distance_limit_rad, double home_offset_rad, double profile_step_size_rad = 0.001)

Initialize the homing procedure.

This has to be called before update_homing().

Parameters:

  • joint_id – ID of the joint. This is only used for debug prints.

  • search_distance_limit_rad – Maximum distance the motor moves while searching for the encoder index. Unit: radian.

  • home_offset_rad – Offset from home position to zero position. Unit: radian.

  • profile_step_size_rad – Distance by which the target position of the position profile is changed in each step. Set to a negative value to search for the next encoder index in negative direction. Unit: radian.

HomingReturnCode update_homing()

Perform one step of homing on encoder index.

Searches for the next encoder index in positive direction and, when found, sets it as home position.

Only performs one step, so this method needs to be called in a loop. This method only set the control, one MUST send the control for the motor after calling this method.

The motor is moved with a position profile until either the encoder index is reached or the search distance limit is exceeded. The position is controlled with a simple PD controller.

If the encoder index is found, its position is used as home position. The zero position is offset from the home position by adding the “home

offset” to it (i.e. zero = home pos. + home offset). If the search distance limit is reached before the encoder index occurs, the homing fails.

Returns:

Status of the homing procedure.

double get_distance_travelled_during_homing() const

Get distance between start and end position of homing.

Compute the distance that the joint moved between initialization of homing and reaching the home position.

This can be used to determine the home offset by first moving the joint to the desired zero position, then executing the homing and finally calling this function which will provide the desired home offset.

Returns:

Distance between start and end position of homing.

template<int COUNT>
class BlmcJointModules
#include <blmc_joint_module.hpp>

This class defines an interface to a collection of BLMC joints.

It creates a BLMCJointModule for every blmc_driver::MotorInterface provided.

Template Parameters:

COUNT –

Public Types

typedef Eigen::Matrix<double, COUNT, 1> Vector

Defines a static Eigen vector type in order to define the interface.

typedef Eigen::Matrix<double, COUNT, 1> Vector

Defines a static Eigen vector type in order to define the interface.

Public Functions

inline BlmcJointModules(const std::array<std::shared_ptr<blmc_drivers::MotorInterface>, COUNT> &motors, const Vector &motor_constants, const Vector &gear_ratios, const Vector &zero_angles, const Vector &max_currents)

Construct a new BlmcJointModules object.

Parameters:

  • motors –

  • motor_constants –

  • gear_ratios –

  • zero_angles –

inline BlmcJointModules()

Construct a new BlmcJointModules object.

inline void set_motor_array(const std::array<std::shared_ptr<blmc_drivers::MotorInterface>, COUNT> &motors, const Vector &motor_constants, const Vector &gear_ratios, const Vector &zero_angles, const Vector &max_currents)

Set the motor array, by creating the corresponding modules.

Parameters:

  • motors –

  • motor_constants –

  • gear_ratios –

  • zero_angles –

inline void send_torques()

Send the registered torques to all modules.

inline void set_joint_polarities(std::array<bool, COUNT> reverse_polarities)

Set the polarities of the joints (see BlmcJointModule::set_joint_polarity)

Parameters:

reverse_polarity –

inline void set_torques(const Vector &desired_torques)

Register the joint torques to be sent for all modules.

Parameters:

desired_torques – (Nm)

inline Vector get_max_torques()

Get the maximum admissible joint torque that can be applied.

Returns:

Vector (N/m)

inline Vector get_sent_torques() const

Get the previously sent torques.

Returns:

Vector (Nm)

inline Vector get_measured_torques() const

Get the measured joint torques.

Returns:

Vector (Nm)

inline Vector get_measured_angles() const

Get the measured joint angles.

Returns:

Vector (rad)

inline Vector get_measured_velocities() const

Get the measured joint velocities.

Returns:

Vector (rad/s)

inline void set_zero_angles(const Vector &zero_angles)

Set the zero_angles.

These are the joint angles between the starting pose and the zero theoretical pose of the urdf.

Parameters:

zero_angles – (rad)

inline Vector get_zero_angles() const

Get the zero_angles.

These are the joint angles between the starting pose and the zero theoretical pose of the urdf.

Returns:

Vector (rad)

inline Vector get_measured_index_angles() const

Get the index_angles.

There is one index per motor rotation so there are gear_ratio indexes per joint rotation.

Returns:

Vector (rad)

inline void set_position_control_gains(size_t joint_id, double kp, double kd)

Set position control gains for the specified joint.

Parameters:

  • joint_id – ID of the joint (in range [0, COUNT)).

  • kp – P gain.

  • kd – D gain.

inline void set_position_control_gains(Vector kp, Vector kd)

Set position control gains for all joints.

Parameters:

  • kp – P gains.

  • kd – D gains.

inline HomingReturnCode execute_homing_at_current_position(Vector home_offset_rad)

Perform homing for all joints at endstops.

See BlmcJointModule::homing_at_current_position for description of the arguments.

Returns:

Final status of the homing procedure (since homing happens at current,position, procedure always returns success).

inline HomingReturnCode execute_homing(double search_distance_limit_rad, Vector home_offset_rad, Vector profile_step_size_rad = Vector::Constant(0.001))

Perform homing for all joints.

If one of the joints fails, the complete homing fails. Otherwise it loops until all joints finished. If a joint is finished while others are still running, it is held at the home position.

See BlmcJointModule::update_homing for details on the homing procedure.

See BlmcJointModule::init_homing for description of the arguments.

Returns:

Final status of the homing procedure (either SUCCESS if all joints succeeded or the return code of the first joint that failed).

inline Vector get_distance_travelled_during_homing() const

See also

BlmcJointModule::get_distance_travelled_during_homing

inline GoToReturnCode go_to(Vector angle_to_reach_rad, double average_speed_rad_per_sec = 1.0)

Allow the robot to go to a desired pose.

Once the control done 0 torques is sent.

Parameters:

  • angle_to_reach_rad – (rad)

  • average_speed_rad_per_sec – (rad/sec)

Returns:

GoToReturnCode

inline BlmcJointModules(const std::array<std::shared_ptr<blmc_drivers::MotorInterface>, COUNT> &motors, const Vector &motor_constants, const Vector &gear_ratios, const Vector &zero_angles, const Vector &max_currents)

Construct a new BlmcJointModules object.

Parameters:

  • motors –

  • motor_constants –

  • gear_ratios –

  • zero_angles –

inline BlmcJointModules()

Construct a new BlmcJointModules object.

inline void set_motor_array(const std::array<std::shared_ptr<blmc_drivers::MotorInterface>, COUNT> &motors, const Vector &motor_constants, const Vector &gear_ratios, const Vector &zero_angles, const Vector &max_currents)

Set the motor array, by creating the corresponding modules.

Parameters:

  • motors –

  • motor_constants –

  • gear_ratios –

  • zero_angles –

inline void send_torques()

Send the registered torques to all modules.

inline void set_joint_polarities(std::array<bool, COUNT> reverse_polarities)

Set the polarities of the joints (see BlmcJointModule::set_joint_polarity)

Parameters:

reverse_polarity –

inline void set_torques(const Vector &desired_torques)

Register the joint torques to be sent for all modules.

Parameters:

desired_torques – (Nm)

inline Vector get_max_torques()

Get the maximum admissible joint torque that can be applied.

Returns:

Vector (N/m)

inline Vector get_sent_torques() const

Get the previously sent torques.

Returns:

Vector (Nm)

inline Vector get_measured_torques() const

Get the measured joint torques.

Returns:

Vector (Nm)

inline Vector get_measured_angles() const

Get the measured joint angles.

Returns:

Vector (rad)

inline Vector get_measured_velocities() const

Get the measured joint velocities.

Returns:

Vector (rad/s)

inline void set_zero_angles(const Vector &zero_angles)

Set the zero_angles.

These are the joint angles between the starting pose and the zero theoretical pose of the urdf.

Parameters:

zero_angles – (rad)

inline Vector get_zero_angles() const

Get the zero_angles.

These are the joint angles between the starting pose and the zero theoretical pose of the urdf.

Returns:

Vector (rad)

inline Vector get_measured_index_angles() const

Get the index_angles.

There is one index per motor rotation so there are gear_ratio indexes per joint rotation.

Returns:

Vector (rad)

inline void set_position_control_gains(size_t joint_id, double kp, double kd)

Set position control gains for the specified joint.

Parameters:

  • joint_id – ID of the joint (in range [0, COUNT)).

  • kp – P gain.

  • kd – D gain.

inline void set_position_control_gains(Vector kp, Vector kd)

Set position control gains for all joints.

Parameters:

  • kp – P gains.

  • kd – D gains.

inline HomingReturnCode execute_homing_at_current_position(Vector home_offset_rad)

Perform homing for all joints at endstops.

See BlmcJointModule::homing_at_current_position for description of the arguments.

Returns:

Final status of the homing procedure (since homing happens at current,position, procedure always returns success).

inline HomingReturnCode execute_homing(double search_distance_limit_rad, Vector home_offset_rad, Vector profile_step_size_rad = Vector::Constant(0.001))

Perform homing for all joints.

If one of the joints fails, the complete homing fails. Otherwise it loops until all joints finished. If a joint is finished while others are still running, it is held at the home position.

See BlmcJointModule::update_homing for details on the homing procedure.

See BlmcJointModule::init_homing for description of the arguments.

Returns:

Final status of the homing procedure (either SUCCESS if all joints succeeded or the return code of the first joint that failed).

inline Vector get_distance_travelled_during_homing() const

See also

BlmcJointModule::get_distance_travelled_during_homing

inline GoToReturnCode go_to(Vector angle_to_reach_rad, double average_speed_rad_per_sec = 1.0)

Allow the robot to go to a desired pose.

Once the control done 0 torques is sent.

Parameters:

  • angle_to_reach_rad – (rad)

  • average_speed_rad_per_sec – (rad/sec)

Returns:

GoToReturnCode

class AnalogSensorInterface : public blmc_drivers::DeviceInterface, public blmc_drivers::DeviceInterface
#include <analog_sensor.hpp>

AnalogSensorInterface class is a simple abstract interface for using blmc analog measurements.

Subclassed by blmc_drivers::AnalogSensor, blmc_drivers::AnalogSensor

Public Types

typedef time_series::TimeSeries<double> ScalarTimeseries

This is just a short cut for the time series types.

typedef time_series::TimeSeries<double> ScalarTimeseries

This is just a short cut for the time series types.

Public Functions

virtual std::shared_ptr<const ScalarTimeseries> get_measurement() const = 0

Get the measurement object which is the list of time stamped data.

Returns:

std::shared_ptr<const ScalarTimeseries> which is a pointer to the a list of time stamped data

inline virtual ~AnalogSensorInterface()

Destroy the AnalogSensorInterface object.

virtual std::shared_ptr<const ScalarTimeseries> get_measurement() const = 0

Get the measurement object which is the list of time stamped data.

Returns:

std::shared_ptr<const ScalarTimeseries> which is a pointer to the a list of time stamped data

inline virtual ~AnalogSensorInterface()

Destroy the AnalogSensorInterface object.

class AnalogSensor : public blmc_drivers::AnalogSensorInterface, public blmc_drivers::AnalogSensorInterface
#include <analog_sensor.hpp>

AnalogSensor class is the implementation of the above interface.

Public Functions

AnalogSensor(std::shared_ptr<MotorBoardInterface> board, bool sensor_id)

Construct a new AnalogSensor object.

Parameters:

  • board – is a motor board which gives access to the motor sensors (position, velocity, current, etc) and to the motor cotrols.

  • sensor_id – is the id of the sensor on the control board

virtual std::shared_ptr<const ScalarTimeseries> get_measurement() const

Get the measurement object which is the list of time stamped data.

Returns:

std::shared_ptr<const ScalarTimeseries> which is a pointer to the a list of time stamped data

AnalogSensor(std::shared_ptr<MotorBoardInterface> board, bool sensor_id)

Construct a new AnalogSensor object.

Parameters:

  • board – is a motor board which gives access to the motor sensors (position, velocity, current, etc) and to the motor cotrols.

  • sensor_id – is the id of the sensor on the control board

virtual std::shared_ptr<const ScalarTimeseries> get_measurement() const

Get the measurement object which is the list of time stamped data.

Returns:

std::shared_ptr<const ScalarTimeseries> which is a pointer to the a list of time stamped data

class CanBusFrame
#include <can_bus.hpp>

CanBusFrame is a class that contains a fixed sized amount of data to be send or received via the can bus.

Public Functions

inline void print() const
inline void print() const

Public Members

std::array<uint8_t, 8> data

data is the acutal data to be sent/received.

uint8_t dlc

dlc is the size of the message.

can_id_t id

id is the id number return by the CAN bus.

class CanBusConnection
#include <can_bus.hpp>

CanBusConnection is a data structure that contains the hardware details for the connection between to can cards.

Public Members

struct sockaddr_can send_addr

send_addr is the ip address where to send the the messages.

int socket

socket is the port through which the messages will be processed

class CanBusInterface : public blmc_drivers::DeviceInterface, public blmc_drivers::DeviceInterface
#include <can_bus.hpp>

CanBusInterface is an abstract class that defines an API for the communication via Can bus.

Subclassed by blmc_drivers::CanBus, blmc_drivers::CanBus

Public Types

typedef time_series::TimeSeries<CanBusFrame> CanframeTimeseries

CanframeTimeseries is a simple sohortcut.

typedef time_series::TimeSeries<CanBusFrame> CanframeTimeseries

CanframeTimeseries is a simple sohortcut.

Public Functions

inline virtual ~CanBusInterface()

Destroy the CanBusInterface object.

virtual std::shared_ptr<const CanframeTimeseries> get_output_frame() const = 0

getters

Get the output frame

Returns:

std::shared_ptr<const CanframeTimeseries>

virtual std::shared_ptr<const CanframeTimeseries> get_input_frame() = 0

Get the input frame.

Returns:

std::shared_ptr<const CanframeTimeseries>

virtual std::shared_ptr<const CanframeTimeseries> get_sent_input_frame() = 0

Get the sent input frame.

Returns:

std::shared_ptr<const CanframeTimeseries>

virtual void set_input_frame(const CanBusFrame &input_frame) = 0

setters

Set the input frame saves the input frame to be sent in a queue.

Parameters:

input_frame –

virtual void send_if_input_changed() = 0

Sender.

send all the input frame to the can network

inline virtual ~CanBusInterface()

Destroy the CanBusInterface object.

virtual std::shared_ptr<const CanframeTimeseries> get_output_frame() const = 0

getters

Get the output frame

Returns:

std::shared_ptr<const CanframeTimeseries>

virtual std::shared_ptr<const CanframeTimeseries> get_input_frame() = 0

Get the input frame.

Returns:

std::shared_ptr<const CanframeTimeseries>

virtual std::shared_ptr<const CanframeTimeseries> get_sent_input_frame() = 0

Get the sent input frame.

Returns:

std::shared_ptr<const CanframeTimeseries>

virtual void set_input_frame(const CanBusFrame &input_frame) = 0

setters

Set the input frame saves the input frame to be sent in a queue.

Parameters:

input_frame –

virtual void send_if_input_changed() = 0

Sender.

send all the input frame to the can network

class CanBus : public blmc_drivers::CanBusInterface, public blmc_drivers::CanBusInterface
#include <can_bus.hpp>

CanBus is the implementation of the CanBusInterface.

Public Functions

CanBus(const std::string &can_interface_name, const size_t &history_length = 1000)

Construct a new CanBus object.

Parameters:

  • can_interface_name –

  • history_length –

virtual ~CanBus()

Destroy the CanBus object.

inline virtual std::shared_ptr<const CanframeTimeseries> get_output_frame() const

Getters.

Get the output frame

Returns:

std::shared_ptr<const CanframeTimeseries>

inline virtual std::shared_ptr<const CanframeTimeseries> get_input_frame()

Get the input frame.

Returns:

std::shared_ptr<const CanframeTimeseries>

inline virtual std::shared_ptr<const CanframeTimeseries> get_sent_input_frame()

Get the input frame thas has been sent.

Returns:

std::shared_ptr<const CanframeTimeseries>

inline virtual void set_input_frame(const CanBusFrame &input_frame)

Setters.

Set the input frame

Parameters:

input_frame –

virtual void send_if_input_changed()

Sender.

Send the queue of message to the can network

CanBus(const std::string &can_interface_name, const size_t &history_length = 1000)

Construct a new CanBus object.

Parameters:

  • can_interface_name –

  • history_length –

virtual ~CanBus()

Destroy the CanBus object.

inline virtual std::shared_ptr<const CanframeTimeseries> get_output_frame() const

Getters.

Get the output frame

Returns:

std::shared_ptr<const CanframeTimeseries>

inline virtual std::shared_ptr<const CanframeTimeseries> get_input_frame()

Get the input frame.

Returns:

std::shared_ptr<const CanframeTimeseries>

inline virtual std::shared_ptr<const CanframeTimeseries> get_sent_input_frame()

Get the input frame thas has been sent.

Returns:

std::shared_ptr<const CanframeTimeseries>

inline virtual void set_input_frame(const CanBusFrame &input_frame)

Setters.

Set the input frame

Parameters:

input_frame –

virtual void send_if_input_changed()

Sender.

Send the queue of message to the can network

class DeviceInterface
#include <device_interface.hpp>

this class exists purely for logical reasons, it does not in itself implement anything.

the purpose of this class is to provide guidelines how a device should be implemented. any device has a number of inputs and outputs, see the following diagram for an example with two inputs and outputs.

generally, we expect the following functions to be implemented:

  • a set function for each input (several inputs may share a set function which takes an index argument).

  • a send_if_input_changed() function which will send the inputs to the device if any of them have changed.

  • functions to access the current inputs and outputs, as well as the inputs which have been sent to the device. Rather than just returning the latest elements, these function should return a time series of these objects, such that the user can synchronize (e.g. wait for the next element or step through them one by one such that none of them is missed)

../../_images/device_class_diagram.svg

Subclassed by blmc_drivers::AnalogSensorInterface, blmc_drivers::AnalogSensorInterface, blmc_drivers::CanBusInterface, blmc_drivers::CanBusInterface, blmc_drivers::LegInterface, blmc_drivers::LegInterface, blmc_drivers::MotorBoardInterface, blmc_drivers::MotorBoardInterface, blmc_drivers::MotorInterface, blmc_drivers::MotorInterface

class LegInterface : public blmc_drivers::DeviceInterface, public blmc_drivers::DeviceInterface
#include <leg.hpp>

This class defines an interface to control a leg.

This legg is composed of 2 motor, one for the hip and one for the knee.

Subclassed by blmc_drivers::Leg, blmc_drivers::Leg

Public Types

enum MotorMeasurementIndexing

MotorMeasurementIndexing this enum allow to access the different kind of sensor measurements in an understandable way in the code.

Values:

enumerator current
enumerator position
enumerator velocity
enumerator encoder_index
enumerator motor_measurement_count
enumerator current
enumerator position
enumerator velocity
enumerator encoder_index
enumerator motor_measurement_count
enum MotorIndexing

This enum list the motors in the leg.

Values:

enumerator hip
enumerator knee
enumerator motor_count
enumerator hip
enumerator knee
enumerator motor_count
enum MotorMeasurementIndexing

MotorMeasurementIndexing this enum allow to access the different kind of sensor measurements in an understandable way in the code.

Values:

enumerator current
enumerator position
enumerator velocity
enumerator encoder_index
enumerator motor_measurement_count
enumerator current
enumerator position
enumerator velocity
enumerator encoder_index
enumerator motor_measurement_count
enum MotorIndexing

This enum list the motors in the leg.

Values:

enumerator hip
enumerator knee
enumerator motor_count
enumerator hip
enumerator knee
enumerator motor_count
typedef time_series::TimeSeries<double> ScalarTimeseries

ScalarTimeseries is a simple shortcut for more intelligible code.

template<typename Type>
using Ptr = std::shared_ptr<Type>

This is a shortcut for creating shared pointer in a simpler writting expression.

Template Parameters:

Type – is the template paramer of the shared pointer.

typedef time_series::TimeSeries<double> ScalarTimeseries

ScalarTimeseries is a simple shortcut for more intelligible code.

template<typename Type>
using Ptr = std::shared_ptr<Type>

This is a shortcut for creating shared pointer in a simpler writting expression.

Template Parameters:

Type – is the template paramer of the shared pointer.

Public Functions

inline virtual ~LegInterface()

Destroy the LegInterface object.

virtual Ptr<const ScalarTimeseries> get_motor_measurement(const int &motor_index, const int &measurement_index) const = 0

Getters.

Get the device output

Parameters:

  • motor_index – [in] designate the motor from which we want the data from.

  • measurement_index – [in] is teh kind of data we are looking for.

Returns:

Ptr<const ScalarTimeseries> is the list of the lasts time stamped acquiered.

virtual Ptr<const ScalarTimeseries> get_current_target(const int &motor_index) const = 0

Get the actual target current.

Parameters:

motor_index – [in] designate the motor from which we want the data from.

Returns:

Ptr<const ScalarTimeseries> is the list of the lasts time stamped acquiered.

virtual Ptr<const ScalarTimeseries> get_sent_current_target(const int &motor_index) const = 0

Get the last sent target current.

Parameters:

motor_index – [in] designate the motor from which we want the data from.

Returns:

Ptr<const ScalarTimeseries> is the list of the lasts time stamped acquiered.

virtual void set_current_target(const double &current_target, const int &motor_index) = 0

Setters.

Set the current target saves internally the desired current. This data is not send to the motor yet. Please call send_if_input_changed in order to actually send the data to the card.

Parameters:

  • current_target – is the current to achieve on the motor card.

  • motor_index – is the motor to control.

virtual void send_if_input_changed() = 0

Sender.

Actually send the target current to the motor cards.

inline virtual ~LegInterface()

Destroy the LegInterface object.

virtual Ptr<const ScalarTimeseries> get_motor_measurement(const int &motor_index, const int &measurement_index) const = 0

Getters.

Get the device output

Parameters:

  • motor_index – [in] designate the motor from which we want the data from.

  • measurement_index – [in] is teh kind of data we are looking for.

Returns:

Ptr<const ScalarTimeseries> is the list of the lasts time stamped acquiered.

virtual Ptr<const ScalarTimeseries> get_current_target(const int &motor_index) const = 0

Get the actual target current.

Parameters:

motor_index – [in] designate the motor from which we want the data from.

Returns:

Ptr<const ScalarTimeseries> is the list of the lasts time stamped acquiered.

virtual Ptr<const ScalarTimeseries> get_sent_current_target(const int &motor_index) const = 0

Get the last sent target current.

Parameters:

motor_index – [in] designate the motor from which we want the data from.

Returns:

Ptr<const ScalarTimeseries> is the list of the lasts time stamped acquiered.

virtual void set_current_target(const double &current_target, const int &motor_index) = 0

Setters.

Set the current target saves internally the desired current. This data is not send to the motor yet. Please call send_if_input_changed in order to actually send the data to the card.

Parameters:

  • current_target – is the current to achieve on the motor card.

  • motor_index – is the motor to control.

virtual void send_if_input_changed() = 0

Sender.

Actually send the target current to the motor cards.

class Leg : public blmc_drivers::LegInterface, public blmc_drivers::LegInterface
#include <leg.hpp>

The leg class is the implementation of the LegInterface.

This is the decalartion and the definition of the class as it is very simple.

Public Functions

inline Leg(std::shared_ptr<MotorInterface> hip_motor, std::shared_ptr<MotorInterface> knee_motor)

Construct a new Leg object.

Parameters:

  • hip_motor – is the pointer to the hip motor

  • knee_motor – is the pointer to the knee motor

inline virtual ~Leg()

Destroy the Leg object.

inline virtual Ptr<const ScalarTimeseries> get_motor_measurement(const int &motor_index, const int &measurement_index) const

Getters.

Get the motor measurements.

Parameters:

  • motor_index –

  • measurement_index –

Returns:

Ptr<const ScalarTimeseries>

inline virtual Ptr<const ScalarTimeseries> get_current_target(const int &motor_index) const

Get the actual target current.

Parameters:

motor_index – [in] designate the motor from which we want the data from.

Returns:

Ptr<const ScalarTimeseries> is the list of the lasts time stamped acquiered.

inline virtual Ptr<const ScalarTimeseries> get_sent_current_target(const int &motor_index) const

Get the last sent target current.

Parameters:

motor_index – [in] designate the motor from which we want the data from.

Returns:

Ptr<const ScalarTimeseries> is the list of the lasts time stamped acquiered.

inline virtual void set_current_target(const double &current_target, const int &motor_index)

setters ================================================================

inline virtual void send_if_input_changed()

sender =================================================================

inline Leg(std::shared_ptr<MotorInterface> hip_motor, std::shared_ptr<MotorInterface> knee_motor)

Construct a new Leg object.

Parameters:

  • hip_motor – is the pointer to the hip motor

  • knee_motor – is the pointer to the knee motor

inline virtual ~Leg()

Destroy the Leg object.

inline virtual Ptr<const ScalarTimeseries> get_motor_measurement(const int &motor_index, const int &measurement_index) const

Getters.

Get the motor measurements.

Parameters:

  • motor_index –

  • measurement_index –

Returns:

Ptr<const ScalarTimeseries>

inline virtual Ptr<const ScalarTimeseries> get_current_target(const int &motor_index) const

Get the actual target current.

Parameters:

motor_index – [in] designate the motor from which we want the data from.

Returns:

Ptr<const ScalarTimeseries> is the list of the lasts time stamped acquiered.

inline virtual Ptr<const ScalarTimeseries> get_sent_current_target(const int &motor_index) const

Get the last sent target current.

Parameters:

motor_index – [in] designate the motor from which we want the data from.

Returns:

Ptr<const ScalarTimeseries> is the list of the lasts time stamped acquiered.

inline virtual void set_current_target(const double &current_target, const int &motor_index)

setters ================================================================

inline virtual void send_if_input_changed()

sender =================================================================

class MotorInterface : public blmc_drivers::DeviceInterface, public blmc_drivers::DeviceInterface
#include <motor.hpp>

This class declares an interface to the motor.

It allows the user to access the sensors data as well as sending controls. The only control supported for now is the current.

Subclassed by blmc_drivers::Motor, blmc_drivers::Motor

Public Types

enum MeasurementIndex

Here is a list of the different measurement available on the blmc card.

Values:

enumerator current
enumerator position
enumerator velocity
enumerator encoder_index
enumerator measurement_count
enumerator current
enumerator position
enumerator velocity
enumerator encoder_index
enumerator measurement_count
enum MeasurementIndex

Here is a list of the different measurement available on the blmc card.

Values:

enumerator current
enumerator position
enumerator velocity
enumerator encoder_index
enumerator measurement_count
enumerator current
enumerator position
enumerator velocity
enumerator encoder_index
enumerator measurement_count
typedef time_series::TimeSeries<double> ScalarTimeseries

This is a useful alias.

template<typename Type>
using Ptr = std::shared_ptr<Type>

This a useful alias for the shared Pointer creation.

Template Parameters:

Type – is the Class to crate the pointer from.

typedef time_series::TimeSeries<double> ScalarTimeseries

This is a useful alias.

template<typename Type>
using Ptr = std::shared_ptr<Type>

This a useful alias for the shared Pointer creation.

Template Parameters:

Type – is the Class to crate the pointer from.

Public Functions

inline virtual ~MotorInterface()

Destroy the MotorInterface object.

virtual void send_if_input_changed() = 0

Actually send the commands and controls.

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

Getters.

Get the measurements.

Parameters:

index –

Returns:

Ptr<const ScalarTimeseries> the pointer to the desired measurement history.

virtual Ptr<const ScalarTimeseries> get_current_target() const = 0

Get the current target object.

Returns:

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

virtual Ptr<const ScalarTimeseries> get_sent_current_target() const = 0

Get the history of the sent current targets.

Returns:

Ptr<const ScalarTimeseries>

virtual void set_current_target(const double &current_target) = 0

Setters.

Set the current target. This function saves the data internally. Please call send_if_input_changed() to actually send the data.

Parameters:

current_target –

virtual void set_command(const MotorBoardCommand &command) = 0

Set the command.

Save internally a command to be apply by the motor board. This function save the command internally. Please call send_if_input_changed() to actually send the data.

Parameters:

command –

inline virtual ~MotorInterface()

Destroy the MotorInterface object.

virtual void send_if_input_changed() = 0

Actually send the commands and controls.

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

Getters.

Get the measurements.

Parameters:

index –

Returns:

Ptr<const ScalarTimeseries> the pointer to the desired measurement history.

virtual Ptr<const ScalarTimeseries> get_current_target() const = 0

Get the current target object.

Returns:

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

virtual Ptr<const ScalarTimeseries> get_sent_current_target() const = 0

Get the history of the sent current targets.

Returns:

Ptr<const ScalarTimeseries>

virtual void set_current_target(const double &current_target) = 0

Setters.

Set the current target. This function saves the data internally. Please call send_if_input_changed() to actually send the data.

Parameters:

current_target –

virtual void set_command(const MotorBoardCommand &command) = 0

Set the command.

Save internally a command to be apply by the motor board. This function save the command internally. Please call send_if_input_changed() to actually send the data.

Parameters:

command –

class Motor : public blmc_drivers::MotorInterface, public blmc_drivers::MotorInterface
#include <motor.hpp>

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.

class SafeMotor : public blmc_drivers::Motor, public blmc_drivers::Motor
#include <motor.hpp>

This class is a safe implementation of the Motor class.

It contains utilities to bound the control input. It could also contains some velocity limits at the motor level and why not some temperature management.

Todo:

the velocity limit should be implemented in a smoother way, and the parameters should be passed in the constructor.

It contains utilities to bound the control input. It could also contains some velocity limits at the motor level and why not some temperature management.

Todo:

the velocity limit should be implemented in a smoother way, and the parameters should be passed in the constructor.

Public Functions

SafeMotor(Ptr<MotorBoardInterface> board, bool motor_id, const double &max_current_target = 2.0, const size_t &history_length = 1000, const double &max_velocity = std::numeric_limits<double>::quiet_NaN())

Construct a new SafeMotor object.

Parameters:

  • board –

  • motor_id –

  • max_current_target –

  • history_length –

inline virtual Ptr<const ScalarTimeseries> get_current_target() const

Getters.

Get the _current_target object

Returns:

Ptr<const ScalarTimeseries>

virtual void set_current_target(const double &current_target)

Setters.

Set the current target (Ampere)

Parameters:

current_target –

inline void set_max_current(double max_current_target)

Set the max_current_target_ object.

Parameters:

max_current_target –

inline void set_max_velocity(double max_velocity)

Set the max_velocity_ constant.

Parameters:

max_velocity –

SafeMotor(Ptr<MotorBoardInterface> board, bool motor_id, const double &max_current_target = 2.0, const size_t &history_length = 1000, const double &max_velocity = std::numeric_limits<double>::quiet_NaN())

Construct a new SafeMotor object.

Parameters:

  • board –

  • motor_id –

  • max_current_target –

  • history_length –

inline virtual Ptr<const ScalarTimeseries> get_current_target() const

Getters.

Get the _current_target object

Returns:

Ptr<const ScalarTimeseries>

virtual void set_current_target(const double &current_target)

Setters.

Set the current target (Ampere)

Parameters:

current_target –

inline void set_max_current(double max_current_target)

Set the max_current_target_ object.

Parameters:

max_current_target –

inline void set_max_velocity(double max_velocity)

Set the max_velocity_ constant.

Parameters:

max_velocity –

class MotorBoardCommand
#include <motor_board.hpp>

This MotorBoardCommand class is a data structurs that defines a command.

Public Types

enum IDs

IDs are the different implemented commands that one can send to the MotorBoard.

Values:

enumerator ENABLE_SYS
enumerator ENABLE_MTR1
enumerator ENABLE_MTR2
enumerator ENABLE_VSPRING1
enumerator ENABLE_VSPRING2
enumerator SEND_CURRENT
enumerator SEND_POSITION
enumerator SEND_VELOCITY
enumerator SEND_ADC6
enumerator SEND_ENC_INDEX
enumerator SEND_ALL
enumerator SET_CAN_RECV_TIMEOUT
enumerator ENABLE_POS_ROLLOVER_ERROR
enumerator ENABLE_SYS
enumerator ENABLE_MTR1
enumerator ENABLE_MTR2
enumerator ENABLE_VSPRING1
enumerator ENABLE_VSPRING2
enumerator SEND_CURRENT
enumerator SEND_POSITION
enumerator SEND_VELOCITY
enumerator SEND_ADC6
enumerator SEND_ENC_INDEX
enumerator SEND_ALL
enumerator SET_CAN_RECV_TIMEOUT
enumerator ENABLE_POS_ROLLOVER_ERROR
enum Contents

Is the different command status.

Values:

enumerator ENABLE
enumerator DISABLE
enumerator ENABLE
enumerator DISABLE
enum IDs

IDs are the different implemented commands that one can send to the MotorBoard.

Values:

enumerator ENABLE_SYS
enumerator ENABLE_MTR1
enumerator ENABLE_MTR2
enumerator ENABLE_VSPRING1
enumerator ENABLE_VSPRING2
enumerator SEND_CURRENT
enumerator SEND_POSITION
enumerator SEND_VELOCITY
enumerator SEND_ADC6
enumerator SEND_ENC_INDEX
enumerator SEND_ALL
enumerator SET_CAN_RECV_TIMEOUT
enumerator ENABLE_POS_ROLLOVER_ERROR
enumerator ENABLE_SYS
enumerator ENABLE_MTR1
enumerator ENABLE_MTR2
enumerator ENABLE_VSPRING1
enumerator ENABLE_VSPRING2
enumerator SEND_CURRENT
enumerator SEND_POSITION
enumerator SEND_VELOCITY
enumerator SEND_ADC6
enumerator SEND_ENC_INDEX
enumerator SEND_ALL
enumerator SET_CAN_RECV_TIMEOUT
enumerator ENABLE_POS_ROLLOVER_ERROR
enum Contents

Is the different command status.

Values:

enumerator ENABLE
enumerator DISABLE
enumerator ENABLE
enumerator DISABLE

Public Functions

inline MotorBoardCommand()

Construct a new MotorBoardCommand object.

inline MotorBoardCommand(uint32_t id, int32_t content)

Construct a new MotorBoardCommand object.

Parameters:

  • id – defines the command to apply.

  • content – defines of the command is enabled or disabled.

inline void print() const

Display on a terminal the status of the message.

inline MotorBoardCommand()

Construct a new MotorBoardCommand object.

inline MotorBoardCommand(uint32_t id, int32_t content)

Construct a new MotorBoardCommand object.

Parameters:

  • id – defines the command to apply.

  • content – defines of the command is enabled or disabled.

inline void print() const

Display on a terminal the status of the message.

Public Members

uint32_t id_

id_ is the command to be modifies on the card.

int32_t content_

content_ is the value of teh command to be sent to the cards.

class MotorBoardStatus
#include <motor_board.hpp>

This class represent a 8 bits message that describe the state (enable/disabled) of the card and the two motors.

Public Types

enum ErrorCodes

This is the list of the error codes.

Values:

enumerator NONE

No error.

enumerator ENCODER

Encoder error too high.

enumerator CAN_RECV_TIMEOUT

Timeout for receiving current references exceeded.

enumerator CRIT_TEMP

Motor temperature reached critical value.

Note

This is currently unused as no temperature sensing is done.

enumerator POSCONV

Some error in the SpinTAC Position Convert module.

enumerator POS_ROLLOVER

Position Rollover occured.

enumerator OTHER

Some other error.

enumerator NONE

No error.

enumerator ENCODER

Encoder error too high.

enumerator CAN_RECV_TIMEOUT

Timeout for receiving current references exceeded.

enumerator CRIT_TEMP

Motor temperature reached critical value.

Note

This is currently unused as no temperature sensing is done.

enumerator POSCONV

Some error in the SpinTAC Position Convert module.

enumerator POS_ROLLOVER

Position Rollover occured.

enumerator OTHER

Some other error.

enum ErrorCodes

This is the list of the error codes.

Values:

enumerator NONE

No error.

enumerator ENCODER

Encoder error too high.

enumerator CAN_RECV_TIMEOUT

Timeout for receiving current references exceeded.

enumerator CRIT_TEMP

Motor temperature reached critical value.

Note

This is currently unused as no temperature sensing is done.

enumerator POSCONV

Some error in the SpinTAC Position Convert module.

enumerator POS_ROLLOVER

Position Rollover occured.

enumerator OTHER

Some other error.

enumerator NONE

No error.

enumerator ENCODER

Encoder error too high.

enumerator CAN_RECV_TIMEOUT

Timeout for receiving current references exceeded.

enumerator CRIT_TEMP

Motor temperature reached critical value.

Note

This is currently unused as no temperature sensing is done.

enumerator POSCONV

Some error in the SpinTAC Position Convert module.

enumerator POS_ROLLOVER

Position Rollover occured.

enumerator OTHER

Some other error.

Public Functions

inline void print() const

Simply print the status of the motor board.

inline bool is_ready() const

Check if the all status are green.

inline std::string_view get_error_description() const

Get a human-readable description of the error code.

inline void print() const

Simply print the status of the motor board.

inline bool is_ready() const

Check if the all status are green.

inline std::string_view get_error_description() const

Get a human-readable description of the error code.

Public Members

uint8_t system_enabled

These are the list of bits of the message.

Bits 0 enables/disable of the system (motor board).

uint8_t motor1_enabled

Bits 1 enables/disable of the motor 1.

uint8_t motor1_ready

Bits 2 checks if the motor 1 is ready or not.

uint8_t motor2_enabled

Bits 3 enables/disable of the motor 2.

uint8_t motor2_ready

Bits 4 checks if the motor 2 is ready or not.

uint8_t error_code

This encodes the error codes.

See “ErrorCodes” for more details.

Public Static Functions

static inline constexpr std::string_view get_error_description(uint8_t error_code)
static inline constexpr std::string_view get_error_description(uint8_t error_code)
class MotorBoardInterface : public blmc_drivers::DeviceInterface, public blmc_drivers::DeviceInterface
#include <motor_board.hpp>

MotorBoardInterface declares an API to inacte with a MotorBoard.

Subclassed by blmc_drivers::CanBusMotorBoard, blmc_drivers::CanBusMotorBoard

Public Types

enum MeasurementIndex

This is the list of the measurement we can access.

Values:

enumerator current_0
enumerator current_1
enumerator position_0
enumerator position_1
enumerator velocity_0
enumerator velocity_1
enumerator analog_0
enumerator analog_1
enumerator encoder_index_0
enumerator encoder_index_1
enumerator measurement_count
enumerator current_0
enumerator current_1
enumerator position_0
enumerator position_1
enumerator velocity_0
enumerator velocity_1
enumerator analog_0
enumerator analog_1
enumerator encoder_index_0
enumerator encoder_index_1
enumerator measurement_count
enum ControlIndex

This is the list of the controls we can send.

Values:

enumerator current_target_0
enumerator current_target_1
enumerator control_count
enumerator current_target_0
enumerator current_target_1
enumerator control_count
enum MeasurementIndex

This is the list of the measurement we can access.

Values:

enumerator current_0
enumerator current_1
enumerator position_0
enumerator position_1
enumerator velocity_0
enumerator velocity_1
enumerator analog_0
enumerator analog_1
enumerator encoder_index_0
enumerator encoder_index_1
enumerator measurement_count
enumerator current_0
enumerator current_1
enumerator position_0
enumerator position_1
enumerator velocity_0
enumerator velocity_1
enumerator analog_0
enumerator analog_1
enumerator encoder_index_0
enumerator encoder_index_1
enumerator measurement_count
enum ControlIndex

This is the list of the controls we can send.

Values:

enumerator current_target_0
enumerator current_target_1
enumerator control_count
enumerator current_target_0
enumerator current_target_1
enumerator control_count
typedef time_series::TimeSeries<double> ScalarTimeseries

A useful shortcut.

typedef time_series::Index Index

A useful shortcut.

typedef time_series::TimeSeries<Index> IndexTimeseries

A useful shortcut.

typedef time_series::TimeSeries<MotorBoardStatus> StatusTimeseries

A useful shortcut.

typedef time_series::TimeSeries<MotorBoardCommand> CommandTimeseries

A useful shortcut.

template<typename Type>
using Ptr = std::shared_ptr<Type>

A useful shortcut.

template<typename Type>
using Vector = std::vector<Type>

A useful shortcut.

typedef time_series::TimeSeries<double> ScalarTimeseries

A useful shortcut.

typedef time_series::Index Index

A useful shortcut.

typedef time_series::TimeSeries<Index> IndexTimeseries

A useful shortcut.

typedef time_series::TimeSeries<MotorBoardStatus> StatusTimeseries

A useful shortcut.

typedef time_series::TimeSeries<MotorBoardCommand> CommandTimeseries

A useful shortcut.

template<typename Type>
using Ptr = std::shared_ptr<Type>

A useful shortcut.

template<typename Type>
using Vector = std::vector<Type>

A useful shortcut.

Public Functions

inline virtual ~MotorBoardInterface()

Destroy the MotorBoardInterface object.

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

Getters.

Get the measurements

Parameters:

index – is the kind of measurement we are looking for.

Returns:

Ptr<const ScalarTimeseries> is the list of the last time stamped measurement acquiered.

virtual Ptr<const StatusTimeseries> get_status() const = 0

Get the status of the motor board.

Returns:

Ptr<const StatusTimeseries> is the list of the last status of the card.

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

input logs

Get the controls to be send.

Parameters:

index – define the kind of control we are looking for.

Returns:

Ptr<const ScalarTimeseries> is the list of the controls to be send.

virtual Ptr<const CommandTimeseries> get_command() const = 0

Get the commands to be send.

Returns:

Ptr<const CommandTimeseries> is the list of the commands to be send.

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

Get the sent controls.

Parameters:

index – define the kind of control we are looking for.

Returns:

Ptr<const ScalarTimeseries> is the list of the controls sent recently.

virtual Ptr<const CommandTimeseries> get_sent_command() const = 0

Get the sent commands.

Returns:

Ptr<const CommandTimeseries> is the list of the commands sent recently.

virtual void set_control(const double &control, const int &index) = 0

Setters.

set_control save the control internally. In order to actaully send the controls to the network please call “send_if_input_changed”

Parameters:

  • control – is the value of the control.

  • index – define the kind of control we want to send.

virtual void set_command(const MotorBoardCommand &command) = 0

set_command save the command internally.

In order to actaully send the controls to the network please call “send_if_input_changed”

Parameters:

command – is the command to be sent.

virtual void send_if_input_changed() = 0

Actually send the commands and the controls.

inline virtual ~MotorBoardInterface()

Destroy the MotorBoardInterface object.

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

Getters.

Get the measurements

Parameters:

index – is the kind of measurement we are looking for.

Returns:

Ptr<const ScalarTimeseries> is the list of the last time stamped measurement acquiered.

virtual Ptr<const StatusTimeseries> get_status() const = 0

Get the status of the motor board.

Returns:

Ptr<const StatusTimeseries> is the list of the last status of the card.

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

input logs

Get the controls to be send.

Parameters:

index – define the kind of control we are looking for.

Returns:

Ptr<const ScalarTimeseries> is the list of the controls to be send.

virtual Ptr<const CommandTimeseries> get_command() const = 0

Get the commands to be send.

Returns:

Ptr<const CommandTimeseries> is the list of the commands to be send.

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

Get the sent controls.

Parameters:

index – define the kind of control we are looking for.

Returns:

Ptr<const ScalarTimeseries> is the list of the controls sent recently.

virtual Ptr<const CommandTimeseries> get_sent_command() const = 0

Get the sent commands.

Returns:

Ptr<const CommandTimeseries> is the list of the commands sent recently.

virtual void set_control(const double &control, const int &index) = 0

Setters.

set_control save the control internally. In order to actaully send the controls to the network please call “send_if_input_changed”

Parameters:

  • control – is the value of the control.

  • index – define the kind of control we want to send.

virtual void set_command(const MotorBoardCommand &command) = 0

set_command save the command internally.

In order to actaully send the controls to the network please call “send_if_input_changed”

Parameters:

command – is the command to be sent.

virtual void send_if_input_changed() = 0

Actually send the commands and the controls.

class CanBusMotorBoard : public blmc_drivers::MotorBoardInterface, public blmc_drivers::MotorBoardInterface
#include <motor_board.hpp>

This class CanBusMotorBoard implements a MotorBoardInterface specific to CAN networks.

Public Functions

CanBusMotorBoard(std::shared_ptr<CanBusInterface> can_bus, const size_t &history_length = 1000, const int &control_timeout_ms = 100)

Construct a new CanBusMotorBoard object.

Parameters:

  • can_bus –

  • history_length –

~CanBusMotorBoard()

Destroy the CanBusMotorBoard object.

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

Getters.

Get the measurement data.

Parameters:

index – is the kind of measurement we are insterested in.

Returns:

Ptr<const ScalarTimeseries> is the list of the last measurements acquiered from the CAN card.

inline virtual Ptr<const StatusTimeseries> get_status() const

Get the status of the CAN card.

Returns:

Ptr<const StatusTimeseries> is the list of last acquiered status.

inline virtual Ptr<const ScalarTimeseries> get_control(const int &index) const

Get the controls to be sent.

Parameters:

index – the kind of control we are interested in.

Returns:

Ptr<const ScalarTimeseries> is the list of the control to be sent.

inline virtual Ptr<const CommandTimeseries> get_command() const

Get the commands to be sent.

Returns:

Ptr<const CommandTimeseries> is the list of the command to be sent.

inline virtual Ptr<const ScalarTimeseries> get_sent_control(const int &index) const

Get the already sent controls.

Parameters:

index – the kind of control we are interested in.

Returns:

Ptr<const ScalarTimeseries> is the list of the sent cotnrols.

inline virtual Ptr<const CommandTimeseries> get_sent_command() const

Get the already sent commands.

Returns:

Ptr<const CommandTimeseries> is the list of the sent cotnrols.

inline virtual void set_control(const double &control, const int &index)

Setters.

Set the controls, see MotorBoardInterface::set_control

Parameters:

  • control –

  • index –

inline virtual void set_command(const MotorBoardCommand &command)

Set the commands, see MotorBoardInterface::set_command.

Parameters:

command –

virtual void send_if_input_changed()

Send the actual command and controls.

void wait_until_ready()

returns only once board and motors are ready.

bool is_ready()
void pause_motors()

Todo:

: this function should go away, and we should add somewhere a warning in case there is a timeout

void disable_can_recv_timeout()

Disable the can reciever timeout.

CanBusMotorBoard(std::shared_ptr<CanBusInterface> can_bus, const size_t &history_length = 1000, const int &control_timeout_ms = 100)

Construct a new CanBusMotorBoard object.

Parameters:

  • can_bus –

  • history_length –

~CanBusMotorBoard()

Destroy the CanBusMotorBoard object.

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

Getters.

Get the measurement data.

Parameters:

index – is the kind of measurement we are insterested in.

Returns:

Ptr<const ScalarTimeseries> is the list of the last measurements acquiered from the CAN card.

inline virtual Ptr<const StatusTimeseries> get_status() const

Get the status of the CAN card.

Returns:

Ptr<const StatusTimeseries> is the list of last acquiered status.

inline virtual Ptr<const ScalarTimeseries> get_control(const int &index) const

Get the controls to be sent.

Parameters:

index – the kind of control we are interested in.

Returns:

Ptr<const ScalarTimeseries> is the list of the control to be sent.

inline virtual Ptr<const CommandTimeseries> get_command() const

Get the commands to be sent.

Returns:

Ptr<const CommandTimeseries> is the list of the command to be sent.

inline virtual Ptr<const ScalarTimeseries> get_sent_control(const int &index) const

Get the already sent controls.

Parameters:

index – the kind of control we are interested in.

Returns:

Ptr<const ScalarTimeseries> is the list of the sent cotnrols.

inline virtual Ptr<const CommandTimeseries> get_sent_command() const

Get the already sent commands.

Returns:

Ptr<const CommandTimeseries> is the list of the sent cotnrols.

inline virtual void set_control(const double &control, const int &index)

Setters.

Set the controls, see MotorBoardInterface::set_control

Parameters:

  • control –

  • index –

inline virtual void set_command(const MotorBoardCommand &command)

Set the commands, see MotorBoardInterface::set_command.

Parameters:

command –

virtual void send_if_input_changed()

Send the actual command and controls.

void wait_until_ready()

returns only once board and motors are ready.

bool is_ready()
void pause_motors()

Todo:

: this function should go away, and we should add somewhere a warning in case there is a timeout

void disable_can_recv_timeout()

Disable the can reciever timeout.

template<int ORDER>
class Polynome
#include <polynome.hpp>

Simple class that defines \( P(x) \) a polynome of order ORDER.

It provide simple methods to compute \( P(x) \), \( \frac{dP}{dx}(x) \), and \( \frac{dP^2}{dx^2}(x) \)

Template Parameters:

ORDER – is the order of the polynome

Subclassed by blmc_drivers::TimePolynome< ORDER >, blmc_drivers::TimePolynome< ORDER >

Public Functions

Polynome()

Polynome<ORDER> definitions.

Constructor

~Polynome()

Destructor

double compute(double x)

Compute the value.

double compute_derivative(double x)

Compute the value of the derivative.

double compute_sec_derivative(double x)

Compute the value of the second derivative.

void get_coefficients(Coefficients &coefficients) const

Get the coefficients.

void set_coefficients(const Coefficients &coefficients)

Set the coefficients.

inline int degree()
void print() const

Print the coefficient.

Polynome()

Constructor

~Polynome()

Destructor

double compute(double x)

Compute the value.

double compute_derivative(double x)

Compute the value of the derivative.

double compute_sec_derivative(double x)

Compute the value of the second derivative.

void get_coefficients(Coefficients &coefficients) const

Get the coefficients.

void set_coefficients(const Coefficients &coefficients)

Set the coefficients.

inline int degree()
void print() const

Print the coefficient.

template<int ORDER>
class TimePolynome : public blmc_drivers::Polynome<ORDER>, public blmc_drivers::Polynome<ORDER>
#include <polynome.hpp>

Simple class that defines \( P(t) \) a polynome of order ORDER.

With \( t \) being the time in any units. It provide simple methods to compute safely \( P(time) \), \( \frac{dP}{dt}(t) \), and \( \frac{dP^2}{dt^2}(t) \)

Template Parameters:

ORDER –

Public Functions

inline TimePolynome()

Constructor

inline ~TimePolynome()

Destructor

double compute(double t)

TimePolynome<ORDER> definitions.

Compute the value.

double compute_derivative(double t)

Compute the value of the derivative.

double compute_sec_derivative(double t)

Compute the value of the second derivative.

inline double get_final_time() const
inline double get_init_pose() const
inline double get_init_speed() const
inline double get_init_acc() const
inline double get_final_pose() const
inline double get_final_speed() const
inline double get_final_acc() const
void set_parameters(double final_time, double init_pose, double init_speed, double final_pose)

Computes a polynome trajectory according to the following constraints:

\[\begin{split}\begin{eqnarray*} P(0) &=& init_pose \\ P(0) &=& init_speed = 0 \\ P(0) &=& init_acc = 0 \\ P(final_time_) &=& final_pose \\ P(final_time_) &=& final_speed = 0 \\ P(final_time_) &=& final_acc = 0 \end{eqnarray*}\end{split}\]

Parameters:

  • final_time – is used in the constraints.

  • init_pose – is used in the constraints.

  • init_speed – is used in the constraints.

  • final_pose – is used in the constraints.

inline TimePolynome()

Constructor

inline ~TimePolynome()

Destructor

double compute(double t)

Compute the value.

double compute_derivative(double t)

Compute the value of the derivative.

double compute_sec_derivative(double t)

Compute the value of the second derivative.

inline double get_final_time() const
inline double get_init_pose() const
inline double get_init_speed() const
inline double get_init_acc() const
inline double get_final_pose() const
inline double get_final_speed() const
inline double get_final_acc() const
void set_parameters(double final_time, double init_pose, double init_speed, double final_pose)

Computes a polynome trajectory according to the following constraints:

\[\begin{split}\begin{eqnarray*} P(0) &=& init_pose \\ P(0) &=& init_speed = 0 \\ P(0) &=& init_acc = 0 \\ P(final_time_) &=& final_pose \\ P(final_time_) &=& final_speed = 0 \\ P(final_time_) &=& final_acc = 0 \end{eqnarray*}\end{split}\]

Parameters:

  • final_time – is used in the constraints.

  • init_pose – is used in the constraints.

  • init_speed – is used in the constraints.

  • final_pose – is used in the constraints.