robot::base_motor Class Reference

An abstract motor class. More...

#include <base_motor.h>

Inheritance diagram for robot::base_motor:

Collaboration diagram for robot::base_motor:

Public Member Functions
	base_motor (robot::types::motorid_t motor, bool hasPosSensor)
	Constructor for base motor.
bool	hasPositionSensor () const
	Returns the status of the motor position sensor.
virtual void	setMotorPower (double power)=0
	Set the PWM command of the motor.
virtual void	setMotorPos (int32_t targetPos)=0
	Set the target position of the motor.
virtual types::DataPoint< int32_t >	getMotorPos () const =0
	Get the last reported position of the specified motor.
virtual void	setMotorVel (int32_t targetVel)
	Sets the velocity of the motor.
virtual void	setServoPos (uint8_t servo, int32_t position)=0
virtual void	setStepperTurnAngle (uint8_t stepper, int16_t angle)=0
	base_motor (const base_motor &)=delete
	Delete the copy constructor.
base_motor &	operator= (const base_motor &)=delete
	Delete the copy operator.

Protected Member Functions
void	constructVelController ()
	Constructs a Jacobian Vel Controller.
void	unscheduleVelocityEvent ()
	Unschedules the velocity event if it exists.

Protected Attributes
robot::types::motorid_t	motor_id
bool	posSensor
std::optional< util::PeriodicScheduler< std::chrono::steady_clock >::eventid_t >	velEventID
std::optional< JacobianVelController< 1, 1 > >	velController

Static Protected Attributes
static std::optional< util::PeriodicScheduler< std::chrono::steady_clock > >	pSched
static std::mutex	schedulerMutex

Detailed Description

An abstract motor class.

Constructor & Destructor Documentation

base_motor() [1/2]

robot::base_motor::base_motor	(	robot::types::motorid_t	motor,
		bool	hasPosSensor )

Constructor for base motor.

Parameters

motor	The motor id to manipulate.
hasPosSensor	Boolean to indicate if the motor has a position sensor.

base_motor() [2/2]

robot::base_motor::base_motor ( const base_motor & )

delete

Delete the copy constructor.

Parameters

base_motor

The motor to copy

Member Function Documentation

getMotorPos()

virtual types::DataPoint< int32_t > robot::base_motor::getMotorPos ( ) const

pure virtual

Get the last reported position of the specified motor.

Returns

types::DataPoint<int32_t> The last reported position of the motor, if it exists. If the motor has not reported a position (because it hasn't been received yet or if it doesn't have an encoder) then an empty data point is returned.

Implemented in robot::can_motor, and robot::sim_motor.

hasPositionSensor()

bool robot::base_motor::hasPositionSensor

(

)

const

Returns the status of the motor position sensor.

Returns

True if the motor has a position sensor and false if not

operator=()

base_motor & robot::base_motor::operator= ( const base_motor & )

delete

Delete the copy operator.

Parameters

base_motor

The motor to copy

setMotorPos()

virtual void robot::base_motor::setMotorPos ( int32_t targetPos )

pure virtual

Set the target position of the motor.

This will have no effect if the motor does not support PID.

Parameters

targetPos

The target position, in millidegrees. Refer to the specific motor for more information.

Implemented in robot::can_motor, and robot::sim_motor.

setMotorPower()

virtual void robot::base_motor::setMotorPower ( double power )

pure virtual

Set the PWM command of the motor.

Parameters

power

The power command, in the range [-1, 1]

Implemented in robot::can_motor, and robot::sim_motor.

setMotorVel()

void robot::base_motor::setMotorVel ( int32_t targetVel )

virtual

Sets the velocity of the motor.

Parameters

targetVel

The target velocity, in millidegrees per second.

Reimplemented in robot::can_motor.

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

• src/world_interface/motor/base_motor.h
• src/world_interface/motor/base_motor.cpp