diagMotors.cxx File Reference

Perform Laelaps motors diagnostics. More...

#include <unistd.h>
#include <termios.h>
#include <string.h>
#include <stdio.h>
#include <stdlib.h>
#include <stdarg.h>
#include <errno.h>
#include <iostream>
#include <fstream>
#include <string>
#include <vector>
#include "rnr/rnrconfig.h"
#include "rnr/log.h"
#include "rnr/opts.h"
#include "rnr/pkg.h"
#include "Laelaps/laelaps.h"
#include "Laelaps/laeUtils.h"
#include "Laelaps/laeSysDev.h"
#include "Laelaps/RoboClaw.h"
#include "Laelaps/laeGpio.h"
#include "Laelaps/laeWd.h"
#include "Laelaps/laeMotor.h"
#include "laelaps_diag.h"

Go to the source code of this file.

Classes
struct	LaelapsMotorsInfo
	Laelaps motors subsystem information structure. More...

Functions
static DiagStats	initMotorInterfaces ()
static DiagStats	readCtlrState (LaelapsMotorsInfo &info)
static DiagStats	testMotorCtlrsState ()
static DiagStats	readMotorState (LaelapsMotorsInfo &info, int nMotor)
static DiagStats	testMotorsState ()
static DiagStats	testMotors ()
static DiagStats	deinitMotorInterfaces ()
DiagStats	runMotorsDiagnostics (bool bTestMotion)

Variables
static const char *	SubSysName = "Motors"
static const char *	ProdName = "RoboClaw"
static LaelapsMotorsInfo	MotorsInfo [LaeNumMotorCtlrs]
	Laelaps motors subsystem information. More...
static RoboClawComm	MotorCtlrComm
	motor ctrl serial communication bus
static RoboClaw *	MotorCtlr [LaeNumMotorCtlrs]
	RoboClaw motor controllers.

Detailed Description

Perform Laelaps motors diagnostics.

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 diagMotors.cxx.

Variable Documentation

LaelapsMotorsInfo MotorsInfo[LaeNumMotorCtlrs]

static

Initial value:

=
{
  {
    LaeKeyFront, LaeMotorCtlrAddrFront, LaeMotorCtlrIdFront, true,    false,
    { {LaeKeyLeftFront, LaeMotorLeft}, {LaeKeyRightFront, LaeMotorRight} }
  }, 

  {
    LaeKeyRear, LaeMotorCtlrAddrRear, LaeMotorCtlrIdRear, true,    false,
    { {LaeKeyLeftRear, LaeMotorLeft}, {LaeKeyRightRear, LaeMotorRight} }
  }, 
}

Laelaps motors subsystem information.

Definition at line 104 of file diagMotors.cxx.