Motor Class Reference

#include <master_board_sdk/motor.h>

Collaboration diagram for Motor:

Public Member Functions
	Motor ()
void	SetCurrentReference (double)
void	SetVelocityReference (double)
void	SetPositionReference (double)
void	SetPositionOffset (double)
void	SetKp (double)
void	SetKd (double)
void	SetSaturationCurrent (double)
void	SetDriver (MotorDriver *driver)
void	Print ()
void	Enable ()
void	Disable ()
bool	IsReady ()
bool	IsEnabled ()
bool	HasIndexBeenDetected ()
bool	GetIndexToggleBit ()
double	GetPosition ()
double	GetVelocity ()
double	GetCurrent ()
double	GetPositionOffset ()
void	set_position (double val)
void	set_velocity (double val)
void	set_current (double val)
void	set_is_enabled (bool val)
void	set_is_ready (bool val)
void	set_has_index_been_detected (bool val)
void	set_index_toggle_bit (bool val)
void	set_position_ref (double val)
void	set_velocity_ref (double val)
void	set_current_ref (double val)
void	set_current_sat (double val)
void	set_kp (double val)
void	set_kd (double val)
void	set_enable (bool val)
void	set_enable_position_rollover_error (bool val)
void	set_enable_index_toggle_bit (bool val)
void	set_enable_index_offset_compensation (bool val)
void	set_driver (MotorDriver *new_driver)
double	get_position ()
double	get_velocity ()
double	get_current ()
bool	get_is_enabled ()
bool	get_is_ready ()
bool	get_has_index_been_detected ()
bool	get_index_toggle_bit ()
double	get_position_ref ()
double	get_velocity_ref ()
double	get_current_ref ()
double	get_current_sat ()
double	get_kp ()
double	get_kd ()
bool	get_enable ()
bool	get_enable_position_rollover_error ()
bool	get_enable_index_toggle_bit ()
bool	get_enable_index_offset_compensation ()
MotorDriver *	get_driver ()

Public Attributes
double	position = 0.0
double	velocity = 0.0
double	current = 0.0
double	position_offset = 0.0
bool	is_enabled = false
bool	is_ready = false
bool	index_toggle_bit = false
bool	has_index_been_detected = false
double	position_ref = 0.0
double	velocity_ref = 0.0
double	current_ref = 0.0
double	current_sat = 0.0
double	kp = 0.0
double	kd = 0.0
bool	enable = false
bool	enable_position_rollover_error = false
bool	enable_index_toggle_bit = false
bool	enable_index_offset_compensation = false
MotorDriver *	driver

Constructor & Destructor Documentation

Motor()

Motor::Motor

(

)

Member Function Documentation

Disable()

void Motor::Disable

(

)

Enable()

void Motor::Enable

(

)

get_current()

double Motor::get_current ( )

inline

get_current_ref()

double Motor::get_current_ref ( )

inline

get_current_sat()

double Motor::get_current_sat ( )

inline

get_driver()

MotorDriver * Motor::get_driver ( )

inline

get_enable()

bool Motor::get_enable ( )

inline

get_enable_index_offset_compensation()

bool Motor::get_enable_index_offset_compensation ( )

inline

get_enable_index_toggle_bit()

bool Motor::get_enable_index_toggle_bit ( )

inline

get_enable_position_rollover_error()

bool Motor::get_enable_position_rollover_error ( )

inline

get_has_index_been_detected()

bool Motor::get_has_index_been_detected ( )

inline

get_index_toggle_bit()

bool Motor::get_index_toggle_bit ( )

inline

get_is_enabled()

bool Motor::get_is_enabled ( )

inline

get_is_ready()

bool Motor::get_is_ready ( )

inline

get_kd()

double Motor::get_kd ( )

inline

get_kp()

double Motor::get_kp ( )

inline

get_position()

double Motor::get_position ( )

inline

get_position_ref()

double Motor::get_position_ref ( )

inline

get_velocity()

double Motor::get_velocity ( )

inline

get_velocity_ref()

double Motor::get_velocity_ref ( )

inline

GetCurrent()

double Motor::GetCurrent

(

)

GetIndexToggleBit()

bool Motor::GetIndexToggleBit

(

)

GetPosition()

double Motor::GetPosition

(

)

GetPositionOffset()

double Motor::GetPositionOffset

(

)

GetVelocity()

double Motor::GetVelocity

(

)

HasIndexBeenDetected()

bool Motor::HasIndexBeenDetected

(

)

IsEnabled()

bool Motor::IsEnabled

(

)

IsReady()

bool Motor::IsReady

(

)

Print()

void Motor::Print

(

)

set_current()

void Motor::set_current ( double  val )

inline

set_current_ref()

void Motor::set_current_ref ( double  val )

inline

set_current_sat()

void Motor::set_current_sat ( double  val )

inline

set_driver()

void Motor::set_driver ( MotorDriver *  new_driver )

inline

set_enable()

void Motor::set_enable ( bool  val )

inline

set_enable_index_offset_compensation()

void Motor::set_enable_index_offset_compensation ( bool  val )

inline

set_enable_index_toggle_bit()

void Motor::set_enable_index_toggle_bit ( bool  val )

inline

set_enable_position_rollover_error()

void Motor::set_enable_position_rollover_error ( bool  val )

inline

set_has_index_been_detected()

void Motor::set_has_index_been_detected ( bool  val )

inline

set_index_toggle_bit()

void Motor::set_index_toggle_bit ( bool  val )

inline

set_is_enabled()

void Motor::set_is_enabled ( bool  val )

inline

set_is_ready()

void Motor::set_is_ready ( bool  val )

inline

set_kd()

void Motor::set_kd ( double  val )

inline

set_kp()

void Motor::set_kp ( double  val )

inline

set_position()

void Motor::set_position ( double  val )

inline

set_position_ref()

void Motor::set_position_ref ( double  val )

inline

set_velocity()

void Motor::set_velocity ( double  val )

inline

set_velocity_ref()

void Motor::set_velocity_ref ( double  val )

inline

SetCurrentReference()

void Motor::SetCurrentReference

(

double

ref

)

SetDriver()

void Motor::SetDriver

(

MotorDriver *

driver

)

SetKd()

void Motor::SetKd

(

double

val

)

SetKp()

void Motor::SetKp

(

double

val

)

SetPositionOffset()

void Motor::SetPositionOffset

(

double

offset

)

SetPositionReference()

void Motor::SetPositionReference

(

double

ref

)

SetSaturationCurrent()

void Motor::SetSaturationCurrent

(

double

val

)

SetVelocityReference()

void Motor::SetVelocityReference

(

double

ref

)

Member Data Documentation

current

double Motor::current = 0.0

current_ref

double Motor::current_ref = 0.0

current_sat

double Motor::current_sat = 0.0

driver

MotorDriver* Motor::driver

enable

bool Motor::enable = false

enable_index_offset_compensation

bool Motor::enable_index_offset_compensation = false

enable_index_toggle_bit

bool Motor::enable_index_toggle_bit = false

enable_position_rollover_error

bool Motor::enable_position_rollover_error = false

has_index_been_detected

bool Motor::has_index_been_detected = false

index_toggle_bit

bool Motor::index_toggle_bit = false

is_enabled

bool Motor::is_enabled = false

is_ready

bool Motor::is_ready = false

kd

double Motor::kd = 0.0

kp

double Motor::kp = 0.0

position

double Motor::position = 0.0

position_offset

double Motor::position_offset = 0.0

position_ref

double Motor::position_ref = 0.0

velocity

double Motor::velocity = 0.0

velocity_ref

double Motor::velocity_ref = 0.0

---

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

• include/master_board_sdk/motor.h
• src/motor.cpp