laelaps::LaePowertrainState Class Reference

Powertrain state data class. More...

#include <laePowertrain.h>

Public Member Functions
	LaePowertrainState ()
	Default constructor.
	LaePowertrainState (const LaePowertrainState &src)
	Copy constructor.
	~LaePowertrainState ()
	Destructor.
LaePowertrainState	operator= (const LaePowertrainState &rhs)
	Assignment operator. More...

Public Attributes
s64_t	m_nEncoder
	motor encoder position (quad pulses)
int	m_nSpeed
	raw speed (qpps)
double	m_fTemp
	motor temperature (C)
double	m_fVolts
	input motor voltage (V)
double	m_fAmps
	motor draw (A)
uint_t	m_uBufLen
	command queue length
uint_t	m_uAlarms
	motor alarms
uint_t	m_uWarnings
	motor warnings
double	m_fPosition
	wheel angular position (radians)
double	m_fVelocity
	wheel angular velocity (radians/second)
double	m_fTorque
	wheel torque (N-m)
double	m_fPe
	motor input electrical power (W)
double	m_fPm
	motor output mechanical power (W)

Detailed Description

Powertrain state data class.

This class encapsulates the current dynamic state of one powertrain.

Definition at line 139 of file laePowertrain.h.

Member Function Documentation

LaePowertrainState LaePowertrainState::operator=

(

const LaePowertrainState &

rhs

)

Assignment operator.

Parameters

rhs	Right hand side object.

Returns

Returns copy of this.

Definition at line 196 of file laePowertrain.cxx.

References m_fAmps, m_fPe, m_fPm, m_fPosition, m_fTemp, m_fTorque, m_fVelocity, m_fVolts, m_nEncoder, m_nSpeed, m_uBufLen, and m_uWarnings.

{
  m_nEncoder  = rhs.m_nEncoder;
  m_nSpeed    = rhs.m_nSpeed;
  m_fTemp     = rhs.m_fTemp;
  m_fVolts    = rhs.m_fVolts;
  m_fAmps     = rhs.m_fAmps;
  m_uBufLen   = rhs.m_uBufLen;
  m_uWarnings = rhs.m_uWarnings;

  m_fPosition = rhs.m_fPosition;
  m_fVelocity = rhs.m_fVelocity;
  m_fTorque   = rhs.m_fTorque;
  m_fPe       = rhs.m_fPe;
  m_fPm       = rhs.m_fPm;

  return *this;
}

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

• include/Laelaps/laePowertrain.h
• sw/liblaelaps/laePowertrain.cxx