Inheritance diagram for blmc_drivers::SpiMotorBoard:

Collaboration diagram for blmc_drivers::SpiMotorBoard:

Public Member Functions
	SpiMotorBoard (std::shared_ptr< SpiBus > spi_bus, const size_t udriver_id)
	Construct a new SpiMotorBoard object. More...

	~SpiMotorBoard ()
	Destroy the SpiMotorBoard object. More...

virtual std::shared_ptr< const MotorInterface::ScalarTimeseries >	get_measurement (const int &index) const
	Output and status. More...

virtual std::shared_ptr< const MotorBoardInterface::StatusTimeseries >	get_status () const
	Get the status of the motor board. More...

virtual std::shared_ptr< const MotorInterface::ScalarTimeseries >	get_control (const int &index) const
	input logs More...

virtual std::shared_ptr< const MotorBoardInterface::CommandTimeseries >	get_command () const
	Get the commands to be send. More...

virtual std::shared_ptr< const MotorInterface::ScalarTimeseries >	get_sent_control (const int &index) const
	Get the sent controls. More...

virtual std::shared_ptr< const MotorBoardInterface::CommandTimeseries >	get_sent_command () const
	Get the sent commands. More...

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

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

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

bool	is_ready ()
	return s only once board and motors are ready.

Public Member Functions inherited from blmc_drivers::MotorBoardInterface
virtual	~MotorBoardInterface ()
	Destroy the MotorBoardInterface object.

Private Attributes
std::shared_ptr< SpiBus >	spi_bus_
	Communication related attributes. More...

size_t	udriver_id_
	udriver_id_ is the index of the udriver controlled by the master board. More...

Additional Inherited Members
Public Types inherited from blmc_drivers::MotorBoardInterface
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.

Constructor & Destructor Documentation

◆ SpiMotorBoard()

blmc_drivers::SpiMotorBoard::SpiMotorBoard	(	std::shared_ptr< SpiBus >	spi_bus,
		const size_t	udriver_id
	)

Construct a new SpiMotorBoard object.

The constructor starts a real time thread: SpiMotorBoard::loop(). This thread streams the data back and forth collecting the sensor data and sends the control/commands.

Parameters

spi_bus	is the object that communicate with the master board which in turn communicate with the motor boards. The master board provides the hardware informations and sends the commands.
udriver_id	is the id of the udriver this class represents.

◆ ~SpiMotorBoard()

blmc_drivers::SpiMotorBoard::~SpiMotorBoard ( )

Destroy the SpiMotorBoard object.

The destructor handles the proper shutdown of the class and the threads.

Member Function Documentation

◆ get_command()

std::shared_ptr< const MotorBoardInterface::CommandTimeseries > blmc_drivers::SpiMotorBoard::get_command ( ) const

virtual

Get the commands to be send.

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

Implements blmc_drivers::MotorBoardInterface.

◆ get_control()

std::shared_ptr< const MotorBoardInterface::ScalarTimeseries > blmc_drivers::SpiMotorBoard::get_control ( const int & index ) const

virtual

input logs

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. Inherited from MotorBoardInterface

Implements blmc_drivers::MotorBoardInterface.

◆ get_measurement()

std::shared_ptr< const MotorBoardInterface::ScalarTimeseries > blmc_drivers::SpiMotorBoard::get_measurement ( const int & index ) const

virtual

Output and status.

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. Inherited from MotorBoardInterface

Implements blmc_drivers::MotorBoardInterface.

◆ get_sent_command()

std::shared_ptr< const MotorBoardInterface::CommandTimeseries > blmc_drivers::SpiMotorBoard::get_sent_command ( ) const

virtual

Get the sent commands.

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

Implements blmc_drivers::MotorBoardInterface.

◆ get_sent_control()

std::shared_ptr< const MotorBoardInterface::ScalarTimeseries > blmc_drivers::SpiMotorBoard::get_sent_control ( const int & index ) const

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. Inherited from MotorBoardInterface

Implements blmc_drivers::MotorBoardInterface.

◆ get_status()

std::shared_ptr< const MotorBoardInterface::StatusTimeseries > blmc_drivers::SpiMotorBoard::get_status ( ) const

virtual

Get the status of the motor board.

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

Implements blmc_drivers::MotorBoardInterface.

◆ send_if_input_changed()

void blmc_drivers::SpiMotorBoard::send_if_input_changed ( )

virtual

Actually send the commands and the controls.

Inherited from MotorBoardInterface. This particualr instance does not actually check if it is is a new command or control as the full status of the robot is exchange at every tick.

Implements blmc_drivers::MotorBoardInterface.

◆ set_command()

void blmc_drivers::SpiMotorBoard::set_command ( const MotorBoardCommand & command )

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. Inherited from MotorBoardInterface

Implements blmc_drivers::MotorBoardInterface.

◆ set_control()

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

virtual

Setters.

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. Inherited from MotorBoardInterface

Implements blmc_drivers::MotorBoardInterface.

Member Data Documentation

◆ spi_bus_

std::shared_ptr<SpiBus> blmc_drivers::SpiMotorBoard::spi_bus_

private

Communication related attributes.

Master board interface sdk: https://github.com/open-dynamic-robot-initiative/master-board

◆ udriver_id_

size_t blmc_drivers::SpiMotorBoard::udriver_id_

private

udriver_id_ is the index of the udriver controlled by the master board.

The index is the one used in MasterBoardInterface. The index should correspond to the hardware SPI index onboard the card.

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

include/blmc_drivers/devices/spi_motor_board.hpp
src/spi_motor_board.cpp

Public Member Functions

Private Attributes

Additional Inherited Members

Constructor & Destructor Documentation

◆ SpiMotorBoard()

◆ ~SpiMotorBoard()

Member Function Documentation

◆ get_command()

◆ get_control()

◆ get_measurement()

◆ get_sent_command()

◆ get_sent_control()

◆ get_status()

◆ send_if_input_changed()

◆ set_command()

◆ set_control()

Member Data Documentation

◆ spi_bus_

◆ udriver_id_