blmc_drivers::SafeMotor Class Reference

This class is a safe implementation of the Motor class. More...

#include <motor.hpp>

Inheritance diagram for blmc_drivers::SafeMotor:

Collaboration diagram for blmc_drivers::SafeMotor:

Public Member Functions
	SafeMotor (Ptr< MotorBoardInterface > board, bool motor_id, const double &max_current_target=2.0, const size_t &history_length=1000, const double &max_velocity=std::numeric_limits< double >::quiet_NaN())
	Construct a new SafeMotor object. More...
virtual Ptr< const ScalarTimeseries >	get_current_target () const
	Getters. More...
virtual void	set_current_target (const double &current_target)
	Setters. More...
void	set_max_current (double max_current_target)
	Set the max_current_target_ object. More...
void	set_max_velocity (double max_velocity)
	Set the max_velocity_ constant. More...
Public Member Functions inherited from blmc_drivers::Motor
	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_sent_current_target () const
	Get the already sent current target values. 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.

Private Attributes
double	max_current_target_
	max_current_target_ is the limit of the current.
double	max_velocity_
	max_velocity_ limits the motor velocity.
Ptr< ScalarTimeseries >	current_target_
	History of the target current sent.

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

Detailed Description

This class is a safe implementation of the Motor class.

It contains utilities to bound the control input. It could also contains some velocity limits at the motor level and why not some temperature management.

Todo:

the velocity limit should be implemented in a smoother way, and the parameters should be passed in the constructor.

Constructor & Destructor Documentation

SafeMotor()

blmc_drivers::SafeMotor::SafeMotor	(	Motor::Ptr< MotorBoardInterface >	board,
		bool	motor_id,
		const double &	max_current_target = 2.0,
		const size_t &	history_length = 1000,
		const double &	max_velocity = std::numeric_limits< double>::quiet_NaN()
	)

Construct a new SafeMotor object.

Parameters

board
motor_id
max_current_target
history_length

Member Function Documentation

get_current_target()

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

inlinevirtual

Getters.

Get the _current_target object

Returns

Ptr<const ScalarTimeseries>

Reimplemented from blmc_drivers::Motor.

set_current_target()

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

virtual

Setters.

Set the current target (Ampere)

Parameters

current_target

Reimplemented from blmc_drivers::Motor.

set_max_current()

void blmc_drivers::SafeMotor::set_max_current ( double  max_current_target )

inline

Set the max_current_target_ object.

Parameters

max_current_target

set_max_velocity()

void blmc_drivers::SafeMotor::set_max_velocity ( double  max_velocity )

inline

Set the max_velocity_ constant.

Parameters

max_velocity

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

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