RoboClaw.cxx File Reference

RoboClaw motor controller class implementation. More...

#include <sys/types.h>
#include <unistd.h>
#include <stdio.h>
#include <string>
#include "rnr/rnrconfig.h"
#include "rnr/log.h"
#include "rnr/serdev.h"
#include "Laelaps/RoboClaw.h"

Go to the source code of this file.

Macros
#define	ROBOCLAW_TRY_MOTOR(motor)
	Test for valid motor index. More...
#define	ROBOCLAW_DBG(addr, cmdNum, fmt, ...)
	Debug print disabled.
#define	ROBOCLAW_DBG_MSG(addr, cmdNum, buf, len, fmt, ...)
	Debug print message disabled.
#define	ROBOCLAW_DBG_BUF(buf, len, fmt, ...)
	Debug print buffer disabled.

Functions
s64_t	iabs (s64_t a)
	Integer absolute value. More...

Variables
static RoboClawChipSelect	csNoOp

Detailed Description

RoboClaw motor controller class implementation.

LastChangedDate

2016-04-13 11:47:47 -0600 (Wed, 13 Apr 2016)

Rev

4386

Author

Robin Knight (robin.nosp@m..kni.nosp@m.ght@r.nosp@m.oadn.nosp@m.arrow.nosp@m.s.co.nosp@m.m)

Copyright

© 2015-2017. RoadNarrows LLC.
http://www.roadnarrows.com
All Rights Reserved

Definition in file RoboClaw.cxx.

Macro Definition Documentation

#define ROBOCLAW_TRY_MOTOR

(

motor

)

Value:

do \
  { \
    if( !isValidMotor(motor) ) \
    { \
      LOGERROR("Motor controller 0x%02x: Motor index %d invalid.", \
          m_address, motor); \
      return RC_ERROR; \
    } \
  } while(0)

Test for valid motor index.

This macro only within RoboClaw methods.

Parameters

motor

Motor index.

Returns

On failure, forces return from calling function with the appropriate error code.debug switch

Definition at line 78 of file RoboClaw.cxx.

Referenced by motor::roboclaw::RoboClaw::cmdDutyDrive2(), motor::roboclaw::RoboClaw::cmdQDrive2(), motor::roboclaw::RoboClaw::cmdQDriveForDist(), motor::roboclaw::RoboClaw::cmdQDriveWithAccel(), motor::roboclaw::RoboClaw::cmdQDriveWithAccelForDist(), motor::roboclaw::RoboClaw::cmdQDriveWithProfileToPos(), motor::roboclaw::RoboClaw::cmdReadEncoderMode(), and motor::roboclaw::RoboClaw::cmdReadQSpeed().

Function Documentation

s64_t iabs ( s64_t  a )

inline

Integer absolute value.

Parameters

a	Integer value.

Returns

|a|

Definition at line 176 of file RoboClaw.cxx.

Referenced by laelaps::LaeKinematics::isStopped(), and laelaps::LaeKinematics::senseDynamics().

{
  m_addrLast = 0;
}

Variable Documentation

RoboClawChipSelect csNoOp

static

Fixed no-op selection object.

Definition at line 202 of file RoboClaw.cxx.

Referenced by motor::roboclaw::RoboClawComm::RoboClawComm().