MotorBoardInterface declares an API to inacte with a MotorBoard. More...

#include <motor_board.hpp>

Inheritance diagram for blmc_drivers::MotorBoardInterface:

Collaboration diagram for blmc_drivers::MotorBoardInterface:

Public Types
enum	MeasurementIndex { current_0, current_1, position_0, position_1, velocity_0, velocity_1, analog_0, analog_1, encoder_index_0, encoder_index_1, measurement_count }
	This is the list of the measurement we can access.

enum	ControlIndex { current_target_0, current_target_1, control_count }
	This is the list of the controls we can send.

typedef real_time_tools::ThreadsafeTimeseries< double >	ScalarTimeseries
	A useful shortcut.

typedef ScalarTimeseries::Index	Index
	A useful shortcut.

typedef real_time_tools::ThreadsafeTimeseries< Index >	IndexTimeseries
	A useful shortcut.

typedef real_time_tools::ThreadsafeTimeseries< MotorBoardStatus >	StatusTimeseries
	A useful shortcut.

typedef real_time_tools::ThreadsafeTimeseries< 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 Member Functions
virtual	~MotorBoardInterface ()
	Destroy the MotorBoardInterface object.

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

virtual Ptr< const StatusTimeseries >	get_status () const =0
	Get the status of the motor board. More...

virtual Ptr< const ScalarTimeseries >	get_control (const int &index) const =0
	input logs More...

virtual Ptr< const CommandTimeseries >	get_command () const =0
	Get the commands to be send. More...

virtual Ptr< const ScalarTimeseries >	get_sent_control (const int &index) const =0
	Get the sent controls. More...

virtual Ptr< const CommandTimeseries >	get_sent_command () const =0
	Get the sent commands. More...

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

virtual void	set_command (const MotorBoardCommand &command)=0
	set_command save the command internally. More...

virtual void	send_if_input_changed ()=0
	Actually send the commands and the controls.

Detailed Description

MotorBoardInterface declares an API to inacte with a MotorBoard.

Member Function Documentation

◆ get_command()

virtual Ptr<const CommandTimeseries> blmc_drivers::MotorBoardInterface::get_command ( ) const

pure virtual

Get the commands to be send.

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

Implemented in blmc_drivers::CanBusMotorBoard, and blmc_drivers::SpiMotorBoard.

◆ get_control()

virtual Ptr<const ScalarTimeseries> blmc_drivers::MotorBoardInterface::get_control ( const int & index ) const

pure virtual

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.

Implemented in blmc_drivers::CanBusMotorBoard, and blmc_drivers::SpiMotorBoard.

◆ get_measurement()

virtual Ptr<const ScalarTimeseries> blmc_drivers::MotorBoardInterface::get_measurement ( const int & index ) const

pure virtual

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.

Implemented in blmc_drivers::CanBusMotorBoard, and blmc_drivers::SpiMotorBoard.

◆ get_sent_command()

virtual Ptr<const CommandTimeseries> blmc_drivers::MotorBoardInterface::get_sent_command ( ) const

pure virtual

Get the sent commands.

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

Implemented in blmc_drivers::CanBusMotorBoard, and blmc_drivers::SpiMotorBoard.

◆ get_sent_control()

virtual Ptr<const ScalarTimeseries> blmc_drivers::MotorBoardInterface::get_sent_control ( const int & index ) const

pure virtual

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.

Implemented in blmc_drivers::CanBusMotorBoard, and blmc_drivers::SpiMotorBoard.

◆ get_status()

virtual Ptr<const StatusTimeseries> blmc_drivers::MotorBoardInterface::get_status ( ) const

pure virtual

Get the status of the motor board.

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

Implemented in blmc_drivers::CanBusMotorBoard, and blmc_drivers::SpiMotorBoard.

◆ set_command()

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

pure virtual

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.

Implemented in blmc_drivers::CanBusMotorBoard, and blmc_drivers::SpiMotorBoard.

◆ set_control()

virtual void blmc_drivers::MotorBoardInterface::set_control	(	const double &	control,
		const int &	index
	)

pure virtual

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.

Implemented in blmc_drivers::CanBusMotorBoard, and blmc_drivers::SpiMotorBoard.

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

include/blmc_drivers/devices/motor_board.hpp

Public Types

Public Member Functions

Detailed Description

Member Function Documentation

◆ get_command()

◆ get_control()

◆ get_measurement()

◆ get_sent_command()

◆ get_sent_control()

◆ get_status()

◆ set_command()

◆ set_control()