1 |
|
|
/** |
2 |
|
|
* @file motor.cpp |
3 |
|
|
* @author Manuel Wuthrich (manuel.wuthrich@gmail.com) |
4 |
|
|
* @author Maximilien Naveau (maximilien.naveau@gmail.com) |
5 |
|
|
* @brief |
6 |
|
|
* @version 0.1 |
7 |
|
|
* @date 2018-11-27 |
8 |
|
|
* |
9 |
|
|
* @copyright Copyright (c) 2018 |
10 |
|
|
* |
11 |
|
|
*/ |
12 |
|
|
|
13 |
|
|
#include <blmc_drivers/devices/motor.hpp> |
14 |
|
|
|
15 |
|
|
namespace blmc_drivers |
16 |
|
|
{ |
17 |
|
|
|
18 |
|
|
Motor::Motor(Ptr<MotorBoardInterface> board, bool motor_id): |
19 |
|
|
board_(board), |
20 |
|
|
motor_id_(motor_id) |
21 |
|
|
{ |
22 |
|
|
|
23 |
|
|
} |
24 |
|
|
|
25 |
|
|
Motor::Ptr<const Motor::ScalarTimeseries> Motor::get_measurement( |
26 |
|
|
const int& index) const |
27 |
|
|
{ |
28 |
|
|
if(motor_id_ == 0) |
29 |
|
|
{ |
30 |
|
|
switch(index) |
31 |
|
|
{ |
32 |
|
|
case current: |
33 |
|
|
return board_->get_measurement(MotorBoardInterface::current_0); |
34 |
|
|
case position: |
35 |
|
|
return board_->get_measurement(MotorBoardInterface::position_0); |
36 |
|
|
case velocity: |
37 |
|
|
return board_->get_measurement(MotorBoardInterface::velocity_0); |
38 |
|
|
case encoder_index: |
39 |
|
|
return board_->get_measurement( |
40 |
|
|
MotorBoardInterface::encoder_index_0); |
41 |
|
|
} |
42 |
|
|
} |
43 |
|
|
else |
44 |
|
|
{ |
45 |
|
|
switch(index) |
46 |
|
|
{ |
47 |
|
|
case current: |
48 |
|
|
return board_->get_measurement(MotorBoardInterface::current_1); |
49 |
|
|
case position: |
50 |
|
|
return board_->get_measurement(MotorBoardInterface::position_1); |
51 |
|
|
case velocity: |
52 |
|
|
return board_->get_measurement(MotorBoardInterface::velocity_1); |
53 |
|
|
case encoder_index: |
54 |
|
|
return board_->get_measurement( |
55 |
|
|
MotorBoardInterface::encoder_index_1); |
56 |
|
|
} |
57 |
|
|
} |
58 |
|
|
|
59 |
|
|
throw std::invalid_argument("index needs to match one of the measurements"); |
60 |
|
|
} |
61 |
|
|
|
62 |
|
|
Motor::Ptr<const Motor::ScalarTimeseries> Motor::get_current_target() const |
63 |
|
|
{ |
64 |
|
|
if(motor_id_ == 0) |
65 |
|
|
{ |
66 |
|
|
return board_->get_control(MotorBoardInterface::current_target_0); |
67 |
|
|
} |
68 |
|
|
else |
69 |
|
|
{ |
70 |
|
|
return board_->get_control(MotorBoardInterface::current_target_1); |
71 |
|
|
} |
72 |
|
|
} |
73 |
|
|
|
74 |
|
|
Motor::Ptr<const Motor::ScalarTimeseries> Motor::get_sent_current_target() const |
75 |
|
|
{ |
76 |
|
|
if(motor_id_ == 0) |
77 |
|
|
{ |
78 |
|
|
return board_->get_sent_control( |
79 |
|
|
MotorBoardInterface::current_target_0); |
80 |
|
|
} |
81 |
|
|
else |
82 |
|
|
{ |
83 |
|
|
return board_->get_sent_control( |
84 |
|
|
MotorBoardInterface::current_target_1); |
85 |
|
|
} |
86 |
|
|
} |
87 |
|
|
|
88 |
|
|
void Motor::set_current_target(const double& current_target) |
89 |
|
|
{ |
90 |
|
|
if(motor_id_ == 0) |
91 |
|
|
{ |
92 |
|
|
board_->set_control(current_target, |
93 |
|
|
MotorBoardInterface::current_target_0); |
94 |
|
|
} |
95 |
|
|
else |
96 |
|
|
{ |
97 |
|
|
board_->set_control(current_target, |
98 |
|
|
MotorBoardInterface::current_target_1); |
99 |
|
|
} |
100 |
|
|
} |
101 |
|
|
|
102 |
|
|
void Motor::print() const |
103 |
|
|
{ |
104 |
|
|
MotorBoardStatus motor_board_status; |
105 |
|
|
double motor_current = std::nan(""); |
106 |
|
|
double motor_position = std::nan(""); |
107 |
|
|
double motor_velocity = std::nan(""); |
108 |
|
|
double motor_encoder_index = std::nan(""); |
109 |
|
|
double motor_sent_current_target = std::nan(""); |
110 |
|
|
|
111 |
|
|
if(board_->get_status()->length() != 0) |
112 |
|
|
{motor_board_status = board_->get_status()->newest_element();} |
113 |
|
|
|
114 |
|
|
if(get_measurement(current)->length() != 0) |
115 |
|
|
{motor_current = get_measurement(current)->newest_element();} |
116 |
|
|
|
117 |
|
|
if(get_measurement(position)->length() != 0) |
118 |
|
|
{motor_position = get_measurement(position)->newest_element();} |
119 |
|
|
|
120 |
|
|
if(get_measurement(velocity)->length() != 0) |
121 |
|
|
{motor_velocity = get_measurement(velocity)->newest_element();} |
122 |
|
|
|
123 |
|
|
if(get_measurement(encoder_index)->length() != 0) |
124 |
|
|
{motor_encoder_index = get_measurement(encoder_index)->newest_element();} |
125 |
|
|
|
126 |
|
|
if(get_sent_current_target()->length() != 0) |
127 |
|
|
{motor_sent_current_target = get_sent_current_target()->newest_element();} |
128 |
|
|
|
129 |
|
|
rt_printf("motor board status: "); |
130 |
|
|
rt_printf("enabled: %d ", motor_board_status.system_enabled); |
131 |
|
|
rt_printf("error_code: %d ", motor_board_status.error_code); |
132 |
|
|
rt_printf("motor status: "); |
133 |
|
|
if(motor_id_ == 0) |
134 |
|
|
{ |
135 |
|
|
rt_printf("enabled: %d ", motor_board_status.motor1_enabled); |
136 |
|
|
rt_printf("ready: %d ", motor_board_status.motor1_ready); |
137 |
|
|
} |
138 |
|
|
else |
139 |
|
|
{ |
140 |
|
|
rt_printf("enabled: %d ", motor_board_status.motor2_enabled); |
141 |
|
|
rt_printf("ready: %d ", motor_board_status.motor2_ready); |
142 |
|
|
} |
143 |
|
|
rt_printf("motor measurements: "); |
144 |
|
|
rt_printf("current: %8f ", motor_current); |
145 |
|
|
rt_printf("position: %8f ", motor_position); |
146 |
|
|
rt_printf("velocity: %8f ", motor_velocity); |
147 |
|
|
rt_printf("encoder index: %8f ", motor_encoder_index); |
148 |
|
|
rt_printf("target current: %8f ", motor_sent_current_target); |
149 |
|
|
rt_printf("\n"); |
150 |
|
|
} |
151 |
|
|
|
152 |
|
|
SafeMotor::SafeMotor( |
153 |
|
|
Motor::Ptr<MotorBoardInterface> board, |
154 |
|
|
bool motor_id, |
155 |
|
|
const double& max_current_target, |
156 |
|
|
const size_t& history_length, |
157 |
|
|
const double& max_velocity): |
158 |
|
|
Motor(board, motor_id), |
159 |
|
|
max_current_target_(max_current_target), |
160 |
|
|
max_velocity_(max_velocity) |
161 |
|
|
{ |
162 |
|
|
current_target_ = std::make_shared<ScalarTimeseries>(history_length); |
163 |
|
|
} |
164 |
|
|
|
165 |
|
|
void SafeMotor::set_current_target(const double& current_target) |
166 |
|
|
{ |
167 |
|
|
current_target_->append(current_target); |
168 |
|
|
|
169 |
|
|
// limit current to avoid overheating ---------------------------------- |
170 |
|
|
double safe_current_target = std::min(current_target, |
171 |
|
|
max_current_target_); |
172 |
|
|
safe_current_target = std::max(safe_current_target, |
173 |
|
|
-max_current_target_); |
174 |
|
|
|
175 |
|
|
// limit velocity to avoid breaking the robot -------------------------- |
176 |
|
|
if(!std::isnan(max_velocity_) && get_measurement(velocity)->length() > 0 && |
177 |
|
|
std::fabs(get_measurement(velocity)->newest_element()) > max_velocity_) |
178 |
|
|
safe_current_target = 0; |
179 |
|
|
Motor::set_current_target(safe_current_target); |
180 |
|
|
} |
181 |
|
|
|
182 |
✓✗✓✗
|
3 |
} // namespace blmc_drivers |