Utilities for interacting with motor boards over a CAN interface. More...

Classes
struct	sensor_t
	The supported motor position sensors. More...

Enumerations
enum class	motormode_t { pwm = MOTOR_UNIT_MODE_PWM , pid = MOTOR_UNIT_MODE_PID }
	The possible motor modes.

Functions
void	initEncoder (deviceserial_t serial, bool invertEncoder, bool zeroEncoder, int32_t pulsesPerJointRev, std::optional< std::chrono::milliseconds > telemetryPeriod)
	Initialize an encoder attached to the given motor.

void	initPotentiometer (deviceserial_t serial, int32_t posLo, int32_t posHi, uint16_t adcLo, uint16_t adcHi, std::optional< std::chrono::milliseconds > telemetryPeriod)
	Initialize a potentiometer attached to the given motor.

void	emergencyStopMotors ()
	Emergency stop all motors on the CAN bus.

void	initMotor (deviceserial_t serial)
	Initialize a motor.

void	setLimitSwitchLimits (deviceserial_t serial, int32_t lo, int32_t hi)
	Set the limits of the limit switch on a motor board.

void	setMotorPIDConstants (deviceserial_t serial, int32_t kP, int32_t kI, int32_t kD)
	Set the PID constants for a motor board.

void	setMotorMode (deviceserial_t serial, motormode_t mode)
	Set the mode of a motor board.

void	setMotorPower (deviceserial_t serial, double power)
	Set the power output of a motor board.

void	setMotorPower (deviceserial_t serial, int16_t power)
	Set the power output of a motor board.

void	setMotorPIDTarget (deviceserial_t serial, int32_t target)
	Set the position PID target of a motor board.

void	setServoPos (deviceserial_t serial, uint8_t servoNum, int32_t angle)
	Set the angle of the PCA servo.

DataPoint< int32_t >	getMotorPosition (deviceserial_t serial)
	Get the last reported position of a motor.

void	pullMotorPosition (deviceserial_t serial)
	Poll the position data from a motor board.

callbackid_t	addLimitSwitchCallback (deviceserial_t serial, const std::function< void( deviceserial_t serial, robot::types::DataPoint< robot::types::LimitSwitchData > limitSwitchData)> &callback)
	Add a callback that is invoked when the limit switch is triggered for a motor board.

void	removeLimitSwitchCallback (callbackid_t id)
	Remove a previously registered limit switch callback.

Detailed Description

Utilities for interacting with motor boards over a CAN interface.

These motor boards can either be AVR or PSoC boards.

Function Documentation

◆ addLimitSwitchCallback()

callbackid_t can::motor::addLimitSwitchCallback	(	deviceserial_t	serial,
		const std::function< void(deviceserial_t serial, robot::types::DataPoint< robot::types::LimitSwitchData > limitSwitchData)> &	callback )

Add a callback that is invoked when the limit switch is triggered for a motor board.

The event is only triggered when the limit switch is clicked, not released.

Parameters

serial	The CAN serial number of the motor board.
callback	The callback to invoke when the limit switch is triggered.

Returns: callbackid_t An ID that refers to this callback. This can be passed to removeLimitSwitchCallback() to remove this callback.

◆ emergencyStopMotors()

void can::motor::emergencyStopMotors ( )

Emergency stop all motors on the CAN bus.

This cuts power to all motors and resets them.

◆ getMotorPosition()

robot::types::DataPoint< int32_t > can::motor::getMotorPosition ( deviceserial_t serial )

Get the last reported position of a motor.

This only reports the cached position, it does not poll the motor board for new data.

Parameters

serial The serial number of the motor board.

Returns: robot::types::DataPoint<int32_t> The position data of the given motor, in millidegrees. If no position data has been received, returns an empty data point.

◆ initEncoder()

void can::motor::initEncoder	(	deviceserial_t	serial,
		bool	invertEncoder,
		bool	zeroEncoder,
		int32_t	pulsesPerJointRev,
		std::optional< std::chrono::milliseconds >	telemetryPeriod )

Initialize an encoder attached to the given motor.

For potentiometers, use initPotentiometer().

Parameters

serial	The CAN serial number of the motor board.
invertEncoder	If true, invert the encoder direction. Use this to correct sensor phase.
zeroEncoder	If true, reset the encoder position to zero.
pulsesPerJointRev	The number of encoder pulses per revolution of the physical joint. Measure/calculate this using the gear ratios and encoder specs.
telemetryPeriod	An optional parameter specifying the telemetry period. The telemetry will be fetched at this period automatically. An empty optional disables this behavior, in which case the motor position must be explicitly pulled.

◆ initMotor()

void can::motor::initMotor ( deviceserial_t serial )

Initialize a motor.

This does not initialize any sensor or controller.

Parameters

serial The CAN serial number of the motor to initialize.

◆ initPotentiometer()

void can::motor::initPotentiometer	(	deviceserial_t	serial,
		int32_t	posLo,
		int32_t	posHi,
		uint16_t	adcLo,
		uint16_t	adcHi,
		std::optional< std::chrono::milliseconds >	telemetryPeriod )

Initialize a potentiometer attached to the given motor.

Parameters

serial	The CAN serial number of the motor board.
posLo	The joint position that corresponds to `adcLo`
posHi	The joint position that corresponds to `adcHi`
adcLo	The ADC value when the joint is at `posLo`
adcHi	The ADC value when the joint is at `posHi`
telemetryPeriod	An optional parameter specifying the telemetry period. The telemetry will be fetched at this period automatically. An empty optional disables this behavior, in which case the motor position must be explicitly pulled.

◆ pullMotorPosition()

void can::motor::pullMotorPosition ( deviceserial_t serial )

Poll the position data from a motor board.

This may not be supported by every motor board implementation.

Parameters

serial The CAN serial number of the motor board.

◆ removeLimitSwitchCallback()

void can::motor::removeLimitSwitchCallback ( callbackid_t id )

Remove a previously registered limit switch callback.

Parameters

id	The callback ID that was returned when the callback was registered with addLimitSwitchCallback().

◆ setLimitSwitchLimits()

void can::motor::setLimitSwitchLimits	(	deviceserial_t	serial,
		int32_t	lo,
		int32_t	hi )

Set the limits of the limit switch on a motor board.

When the corresponding limit switch is triggered, the encoder value is set to this value. Use this method for motorboard with both encoders and limit switches

Parameters

serial	The CAN serial number of the motor board.
lo	The joint position in millidegrees of the low limit switch.
hi	The joint position in millidegrees of the high limit switch.

◆ setMotorMode()

void can::motor::setMotorMode	(	deviceserial_t	serial,
		motormode_t	mode )

Set the mode of a motor board.

Parameters

serial	The CAN serial number of the motor board.
mode	The mode to set.

◆ setMotorPIDConstants()

void can::motor::setMotorPIDConstants	(	deviceserial_t	serial,
		int32_t	kP,
		int32_t	kI,
		int32_t	kD )

Set the PID constants for a motor board.

Note that the PID constants are specified in units of 10000, so a 1 is interpreted as a

This is because the controller operates on millidegrees.

Parameters

serial	The CAN serial number of the motor board.
kP	The P coefficient.
kI	The I coefficient.
kD	The D coefficient.

◆ setMotorPIDTarget()

void can::motor::setMotorPIDTarget	(	deviceserial_t	serial,
		int32_t	target )

Set the position PID target of a motor board.

The motor mode should have been set to motormode_t::pid. Additionally, both the sensor and the PID coefficients must have been initialized.

Parameters

serial	The CAN serial number of the motor board.
target	The position in millidegrees to track with the PID controller.

◆ setMotorPower() [1/2]

void can::motor::setMotorPower	(	deviceserial_t	serial,
		double	power )

Set the power output of a motor board.

Parameters

serial	The CAN serial number of the motor board.
power	Percent power, in the range [-1,1].

◆ setMotorPower() [2/2]

void can::motor::setMotorPower	(	deviceserial_t	serial,
		int16_t	power )

Set the power output of a motor board.

The motor mode should have been set to motormode_t::pwm.

Parameters

serial	The CAN serial number of the motor board.
power	The power to set. Any signed 16-bit integer is valid.

◆ setServoPos()

void can::motor::setServoPos	(	deviceserial_t	serial,
		uint8_t	servoNum,
		int32_t	angle )

Set the angle of the PCA servo.

Parameters

serial	The CAN serial number of the motor board.
servoNum	the servo number.
angle	the angle of the servo in millidegrees.

Classes

Enumerations

Functions

Detailed Description

Function Documentation

◆ addLimitSwitchCallback()

◆ emergencyStopMotors()

◆ getMotorPosition()

◆ initEncoder()

◆ initMotor()

◆ initPotentiometer()

◆ pullMotorPosition()

◆ removeLimitSwitchCallback()

◆ setLimitSwitchLimits()

◆ setMotorMode()

◆ setMotorPIDConstants()

◆ setMotorPIDTarget()

◆ setMotorPower() [1/2]

◆ setMotorPower() [2/2]

◆ setServoPos()