blmc_drivers::MotorInterface Class Reference

This class declares an interface to the motor. More...

#include <motor.hpp>

Inheritance diagram for blmc_drivers::MotorInterface:

Collaboration diagram for blmc_drivers::MotorInterface:

Public Types
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...

Public Member Functions
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. More...
virtual Ptr< const ScalarTimeseries >	get_current_target () const =0
	Get the current target object. More...
virtual Ptr< const ScalarTimeseries >	get_sent_current_target () const =0
	Get the history of the sent current targets. More...
virtual void	set_current_target (const double &current_target)=0
	Setters. More...
virtual void	set_command (const MotorBoardCommand &command)=0
	Set the command. More...

Detailed Description

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.

Member Typedef Documentation

Ptr

template<typename Type >

using blmc_drivers::MotorInterface::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.

Member Function Documentation

get_current_target()

virtual Ptr<const ScalarTimeseries> blmc_drivers::MotorInterface::get_current_target ( ) const

pure virtual

Get the current target object.

Returns

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

Implemented in blmc_drivers::SafeMotor, and blmc_drivers::Motor.

get_measurement()

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

pure virtual

Getters.

Get the measurements.

Parameters

index

Returns

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

Implemented in blmc_drivers::Motor.

get_sent_current_target()

virtual Ptr<const ScalarTimeseries> blmc_drivers::MotorInterface::get_sent_current_target ( ) const

pure virtual

Get the history of the sent current targets.

Returns

Ptr<const ScalarTimeseries>

Implemented in blmc_drivers::Motor.

set_command()

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

pure virtual

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

Implemented in blmc_drivers::Motor.

set_current_target()

virtual void blmc_drivers::MotorInterface::set_current_target ( const double &  current_target )

pure virtual

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

Implemented in blmc_drivers::SafeMotor, and blmc_drivers::Motor.

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

• include/blmc_drivers/devices/motor.hpp