robot::can_motor Class Reference

Inheritance diagram for robot::can_motor:

Collaboration diagram for robot::can_motor:

Public Member Functions
	can_motor (robot::types::motorid_t motor, bool hasPosSensor, can::deviceserial_t serial, can::devicegroup_t group, double pos_pwm_scale, double neg_pwm_scale)
	Constructor for can motor.
void	setMotorPower (double power) override
	Set the PWM command of the motor.
void	setMotorPos (int32_t targetPos) override
	Set the target position of the motor.
types::DataPoint< int32_t >	getMotorPos () const override
	Get the last reported position of the specified motor.
void	setMotorVel (int32_t targetVel) override
	Sets the velocity of the motor.
void	setServoPos (uint8_t servo, int32_t position) override
void	setStepperTurnAngle (uint8_t stepper, int16_t angle) override
can::deviceserial_t	getMotorSerial ()
	Returns the motor's serial id.
Public Member Functions inherited from robot::base_motor
	base_motor (robot::types::motorid_t motor, bool hasPosSensor)
	Constructor for base motor.
bool	hasPositionSensor () const
	Returns the status of the motor position sensor.
	base_motor (const base_motor &)=delete
	Delete the copy constructor.
base_motor &	operator= (const base_motor &)=delete
	Delete the copy operator.

Additional Inherited Members
Protected Member Functions inherited from robot::base_motor
void	constructVelController ()
	Constructs a Jacobian Vel Controller.
void	unscheduleVelocityEvent ()
	Unschedules the velocity event if it exists.
Protected Attributes inherited from robot::base_motor
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 inherited from robot::base_motor
static std::optional< util::PeriodicScheduler< std::chrono::steady_clock > >	pSched
static std::mutex	schedulerMutex

Constructor & Destructor Documentation

can_motor()

robot::can_motor::can_motor	(	robot::types::motorid_t	motor,
		bool	hasPosSensor,
		can::deviceserial_t	serial,
		can::devicegroup_t	group,
		double	pos_pwm_scale,
		double	neg_pwm_scale )

Constructor for can motor.

Parameters

motor	The motor id to manipulate.
hasPosSensor	Boolean to indicate if the motor has a position sensor.
serial	The serial number of the motor board.
pos_pwm_scale	The positive pwm scale for the motor power.
neg_pwm_scale	The positive pwm scale for the motor power.

Member Function Documentation

getMotorPos()

types::DataPoint< int32_t > robot::can_motor::getMotorPos ( ) const

overridevirtual

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.

Implements robot::base_motor.

setMotorPos()

void robot::can_motor::setMotorPos ( int32_t targetPos )

overridevirtual

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.

Implements robot::base_motor.

setMotorPower()

void robot::can_motor::setMotorPower ( double power )

overridevirtual

Set the PWM command of the motor.

Parameters

power

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

Implements robot::base_motor.

setMotorVel()

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

overridevirtual

Sets the velocity of the motor.

Parameters

targetVel

The target velocity, in millidegrees per second.

Reimplemented from robot::base_motor.

setServoPos()

void robot::can_motor::setServoPos ( uint8_t servo, int32_t position )

overridevirtual

Implements robot::base_motor.

setStepperTurnAngle()

void robot::can_motor::setStepperTurnAngle ( uint8_t stepper, int16_t angle )

overridevirtual

Implements robot::base_motor.

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

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