Inheritance diagram for rnr::Mot:

Classes
struct	IDFloatTupple

struct	IDIntTupple

Public Types
typedef std::vector< IDFloatTupple >	VecSpeedTupples

typedef std::vector< IDIntTupple >	VecSpeedRawTupples

typedef std::vector< int >	VecMotID

Public Member Functions
	Mot (float maxSpeed, float minSpeed, float speedStepSize, float maxBrake, float minBrake, float brakeStepSize)

virtual int	open (const std::string &devName, int baudRate)=0
	Function opens serial communication with motor controller device. More...

virtual int	close ()=0
	Function closes serial communication with motor controller device. More...

virtual bool	motIDIsValid (int motID)=0
	Function sends commands to the motor controller and receives responses from the motor controller. More...

virtual int	setSpeed (int motID, float speed, units_t units=units_norm)=0
	Description. More...

virtual int	setSpeed (VecSpeedTupples vecSpeedTupple, units_t units=units_norm)=0
	Function updates the speed of all motors simultaneously but individually. More...

virtual int	stop (int motID)=0
	Function stops motor specified. More...

virtual int	eStop ()=0
	Function simultaneously halts motor rotation for all motors by setting speeds to zero. More...

virtual int	eStopRelease ()=0
	Function releases emergency stop condition and allows normal ops. More...

virtual int	getCurrentLimits ()=0
	Function determines if a motor controller can monitor current. More...

virtual int	setCurrentLimits (int motID, int current, units_t units=units_amp)=0
	Function sets minimum and maximum limits for current. More...

virtual int	getCurrent (int motID, units_t units=units_amp)=0
	Function retrieves value for current load on a single motor. More...

virtual int	getVoltageLimits ()=0
	Function retrieves value for current load on a single motor. More...

virtual int	setVoltageLimits (int lowVoltage, int overVoltage)=0
	Function sets the minimum and maximum limits for applied voltage for all motors. More...

virtual int	getVoltage ()=0
	Function retrieves value for voltage applied to a single motor. More...

virtual int	setSpeedProfile (int motID, int accel, int decel=-1)=0
	Function retrieves value for voltage applied to a single motor. More...

Protected Attributes
float	m_fMaxSpeed
	Function sets the acce1 leration rate for motors. More...

float	m_fMinSpeed

float	m_fSpeedStepSize

float	m_fMaxBrake

float	m_fMinBrake

float	m_fBrakeStepSize

Detailed Description

Definition at line 63 of file Mot.h.

Member Function Documentation

virtual int rnr::Mot::close ( )

pure virtual

Function closes serial communication with motor controller device.

Uses SerDevClose to close serial connection. Returns: 0 on success, -1 on fail.

Implemented in rnr::MotRoboteq, and rnr::MotRoboteqSmall.

virtual int rnr::Mot::eStop ( )

pure virtual

Function simultaneously halts motor rotation for all motors by setting speeds to zero.

Needs to be passed:

Function simultaneously halts motor rotation for all motors and locks the motor controller. No further commands can be given until EStop Release function has been passed.

Implemented in rnr::MotRoboteqSmall.

virtual int rnr::Mot::eStopRelease ( )

pure virtual

Function releases emergency stop condition and allows normal ops.

Implemented in rnr::MotRoboteqSmall.

virtual int rnr::Mot::getCurrent	(	int	motID,
		units_t	units = `units_amp`
	)

pure virtual

Function retrieves value for current load on a single motor.

Implemented in rnr::MotRoboteqSmall.

virtual int rnr::Mot::getCurrentLimits ( )

pure virtual

Function determines if a motor controller can monitor current.

If feature is not defined by the user, the controller will not monitor current.

Function obtains current limit vaules from motor controller.

Implemented in rnr::MotRoboteqSmall.

virtual int rnr::Mot::getVoltage ( )

pure virtual

Function retrieves value for voltage applied to a single motor.

Implemented in rnr::MotRoboteqSmall.

virtual int rnr::Mot::getVoltageLimits ( )

pure virtual

Function retrieves value for current load on a single motor.

Function sets value for current supplied to a single motor.

Function determines is a motor controller can monitor voltage.

If feature is not defined by the user, the controller will not monitor voltage.

Function retrieves voltage limits from motor controller.

Implemented in rnr::MotRoboteqSmall.

virtual bool rnr::Mot::motIDIsValid ( int motID )

pure virtual

Function sends commands to the motor controller and receives responses from the motor controller.

Function uses SerDevWrite (libserial) to send commands over serial to the motor controllers, and uses recvResponse to receive echoed command responses as well as acknowledgements and query responses.

Returns:

Function is responsible for retrieving responses from motor controllers after a command has been sent.

Returns: nBytes (number of bytes sent in response) on success

Function checks for valid motor ID inputs.

Returns: 0 on success, -1 on fail.

Implemented in rnr::MotRoboteqSmall.

virtual int rnr::Mot::open	(	const std::string &	devName,
		int	baudRate
	)

pure virtual

Function opens serial communication with motor controller device.

Uses SerDevOpen to open serial connection with device (devName) Returns: File descriptor >=0 on success, -1 on fail.

Implemented in rnr::MotRoboteq, and rnr::MotRoboteqSmall.

virtual int rnr::Mot::setCurrentLimits	(	int	motID,
		int	current,
		units_t	units = `units_amp`
	)

pure virtual

Function sets minimum and maximum limits for current.

alim

Implemented in rnr::MotRoboteqSmall.

virtual int rnr::Mot::setSpeed	(	int	motID,
		float	speed,
		units_t	units = `units_norm`
	)

pure virtual

Description.

Parameters

	id	des
[out]	minSpeed	des

Returns

Description

Parameters

	id	des
[out]	minSpeed	desmotSpeeds

Returns

motSpeeds

Function retrieves the speed of a specific motor.

Raw speed will be given.

Needs to be passed: Motor ID (1 or 2)

Returns: 0 on success, -1 upon failure.

Function updates the speed of a single motor.

Needs to be passed: A speed (-1 <= speed <= 1), and a motor id (0 = left, 1 = right) Returns: 0 on Success, -1 on incorrect speed, -2 on serial write fail.

Implemented in rnr::MotRoboteqSmall.

virtual int rnr::Mot::setSpeed	(	VecSpeedTupples	vecSpeedTupple,
		units_t	units = `units_norm`
	)

pure virtual

Function updates the speed of all motors simultaneously but individually.

Function uses a vector to consturct a string of commands which will then be sent to multiple motors.

Needs to be passed: motSpeeds vetor which includes a Motor ID (1 or 2) and a value between or equal to -1 and 1 for speed.

Implemented in rnr::MotRoboteqSmall.

virtual int rnr::Mot::setSpeedProfile	(	int	motID,
		int	accel,
		int	decel = `-1`
	)

pure virtual

Function retrieves value for voltage applied to a single motor.

Function sets voltage value for an indivifual motor.

Function sets voltage value for an individual motor.

Function determines if a motor controller can monitor torque.

If feature is not defined by the user, the controller will not monitor torque.

Function retrieves value for torque output for a single motor.

Function sets minimum and maximum limits for motor torque.

\ brief Function retrives tourque values from an individual motor.

Function sets the torque value for an individual motor.

Higher torque values give the motor more turning strength.

Function sets the torque value for an individual motor.

Higher torque values give the motor more turning strength.

Function sets the acceleration rate for motors.

Values represent 'slope' of the velocity profile when motor speeds are changed. In the case of deceleration, this is analogous to the difference between coasting to a stop (high argument values) and stopping abruptly (low argument values).

Function sets the acceleration rate for motors.

Values represent 'slope' of the velocity profile when motor speeds are changed. In the case of deceleration, this is analogous to the difference between coasting to a stop (high argument values) and stopping abruptly (low argument values).

Implemented in rnr::MotRoboteqSmall.

virtual int rnr::Mot::setVoltageLimits	(	int	lowVoltage,
		int	overVoltage
	)

pure virtual

Function sets the minimum and maximum limits for applied voltage for all motors.

Needs to be passed: Low Voltage limit (>=5) and a Over Voltage limit (>=29).

Implemented in rnr::MotRoboteqSmall.

virtual int rnr::Mot::stop ( int motID )

pure virtual

Function stops motor specified.

Needs to be passed: Motor ID (1 or 2).

Implemented in rnr::MotRoboteqSmall.

Member Data Documentation

float rnr::Mot::m_fMaxSpeed

protected

Function sets the acce1 leration rate for motors.

Values represent 'slope' of the velocity profile when motor speeds are changed. In the case of deceleration, this is analogous to the difference between coasting to a stop (high argument values) and stopping abruptly (low argument values).

Definition at line 430 of file Mot.h.

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

include/rnr/mot/Mot.h

Classes

Public Types

Public Member Functions

Protected Attributes

Detailed Description

Member Function Documentation

Member Data Documentation