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

Public Types
enum	ErrorCodes { NONE = 0, ENCODER = 1, CAN_RECV_TIMEOUT = 2, CRIT_TEMP = 3, POSCONV = 4, POS_ROLLOVER = 5, OTHER = 7 }
	This is the list of the error codes. More...

Public Member Functions
void	print () const
	Simply print the status of the motor board.

bool	is_ready ()
	Check if the all status are green. More...

Public Attributes
uint8_t	system_enabled:1
	These are the list of bits of the message. More...

uint8_t	motor1_enabled:1
	Bits 1 enables/disable of the motor 1.

uint8_t	motor1_ready:1
	Bits 2 checks if the motor 1 is ready or not.

uint8_t	motor2_enabled:1
	Bits 3 enables/disable of the motor 2.

uint8_t	motor2_ready:1
	Bits 4 checks if the motor 2 is ready or not.

uint8_t	error_code:3
	This encodes the error codes. More...

Detailed Description

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

Member Enumeration Documentation

This is the list of the error codes.

Enumerator
NONE	No error.
ENCODER	Encoder error too high.
CAN_RECV_TIMEOUT	Timeout for receiving current references exceeded.
CRIT_TEMP	Motor temperature reached critical value. Note This is currently unused as no temperature sensing is done.
POSCONV	Some error in the SpinTAC Position Convert module.
POS_ROLLOVER	Position Rollover occured.
OTHER	Some other error.

bool blmc_drivers::MotorBoardStatus::is_ready ( )

inline

Check if the all status are green.

uint8_t blmc_drivers::MotorBoardStatus::error_code

This encodes the error codes.

See "ErrorCodes" for more details.

uint8_t blmc_drivers::MotorBoardStatus::system_enabled

These are the list of bits of the message.

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

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