blmc_drivers::Motor Class Reference

This class implements the MotorInterface. More...

#include <motor.hpp>

Inheritance diagram for blmc_drivers::Motor:

Collaboration diagram for blmc_drivers::Motor:

Public Member Functions
	Motor (Ptr< MotorBoardInterface > board, bool motor_id)
	Construct a new Motor object. More...
virtual	~Motor ()
	Destroy the Motor object. More...
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. More...
virtual Ptr< const ScalarTimeseries >	get_current_target () const
	Get the current target to be sent. More...
virtual Ptr< const ScalarTimeseries >	get_sent_current_target () const
	Get the already sent current target values. More...
virtual void	set_current_target (const double &current_target)
	Setters. More...
virtual void	set_command (const MotorBoardCommand &command)
	Set the command. More...
virtual void	print () const
	Print the motor status and state. More...
Public Member Functions inherited from blmc_drivers::MotorInterface
virtual	~MotorInterface ()
	Destroy the MotorInterface object.

Protected Attributes
Ptr< MotorBoardInterface >	board_
	The MotorBoard to be used for the communication.
bool	motor_id_
	The id of the motor on the MotorBoard.

Additional Inherited Members
Public Types inherited from blmc_drivers::MotorInterface
enum	MeasurementIndex {   current, position, velocity, encoder_index,   measurement_count }
	Here is a list of the different measurement available on the blmc card.
typedef real_time_tools::ThreadsafeTimeseries< 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. More...

Detailed Description

This class implements the MotorInterface.

Constructor & Destructor Documentation

Motor()

blmc_drivers::Motor::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

~Motor()

virtual blmc_drivers::Motor::~Motor ( )

inlinevirtual

Destroy the Motor object.

Member Function Documentation

get_current_target()

Motor::Ptr< const Motor::ScalarTimeseries > blmc_drivers::Motor::get_current_target ( ) const

virtual

Get the current target to be sent.

Returns

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

Implements blmc_drivers::MotorInterface.

Reimplemented in blmc_drivers::SafeMotor.

get_measurement()

Motor::Ptr< const Motor::ScalarTimeseries > blmc_drivers::Motor::get_measurement ( const int &  index = 0 ) const

virtual

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

Implements blmc_drivers::MotorInterface.

get_sent_current_target()

Motor::Ptr< const Motor::ScalarTimeseries > blmc_drivers::Motor::get_sent_current_target ( ) const

virtual

Get the already sent current target values.

Returns

Ptr<const ScalarTimeseries>

Implements blmc_drivers::MotorInterface.

print()

void blmc_drivers::Motor::print ( ) const

virtual

Print the motor status and state.

set_command()

virtual void blmc_drivers::Motor::set_command ( const MotorBoardCommand &  command )

inlinevirtual

Set the command.

See MotorInterface for more information.

Parameters

command

Implements blmc_drivers::MotorInterface.

set_current_target()

void blmc_drivers::Motor::set_current_target ( const double &  current_target )

virtual

Setters.

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

Parameters

current_target

in Ampere

Implements blmc_drivers::MotorInterface.

Reimplemented in blmc_drivers::SafeMotor.

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The documentation for this class was generated from the following files:

• include/blmc_drivers/devices/motor.hpp
• src/motor.cpp