YARP
Yet Another Robot Platform
ControlBoardWrapperAmplifierControl Class Reference

#include <ControlBoardWrapper/ControlBoardWrapperAmplifierControl.h>

+ Inheritance diagram for ControlBoardWrapperAmplifierControl:

Public Member Functions

bool enableAmp (int j) override
 Enable the amplifier on a specific joint. More...
 
bool disableAmp (int j) override
 Disable the amplifier on a specific joint. More...
 
bool getAmpStatus (int *st) override
 
bool getAmpStatus (int j, int *v) override
 
bool getCurrent (int m, double *curr) override
 
bool getCurrents (double *currs) override
 
bool setMaxCurrent (int j, double v) override
 
bool getMaxCurrent (int j, double *v) override
 Returns the maximum electric current allowed for a given motor. More...
 
bool getNominalCurrent (int m, double *val) override
 
bool setNominalCurrent (int m, const double val) override
 
bool getPeakCurrent (int m, double *val) override
 
bool setPeakCurrent (int m, const double val) override
 
bool getPWM (int m, double *val) override
 
bool getPWMLimit (int m, double *val) override
 
bool setPWMLimit (int m, const double val) override
 
bool getPowerSupplyVoltage (int m, double *val) override
 
- Public Member Functions inherited from ControlBoardWrapperCommon
bool getAxes (int *ax)
 
bool setRefAcceleration (int j, double acc)
 
bool setRefAccelerations (const double *accs)
 
bool setRefAccelerations (const int n_joints, const int *joints, const double *accs)
 
bool getRefAcceleration (int j, double *acc)
 
bool getRefAccelerations (double *accs)
 
bool getRefAccelerations (const int n_joints, const int *joints, double *accs)
 
bool stop (int j)
 
bool stop ()
 
bool stop (const int n_joint, const int *joints)
 
bool getNumberOfMotors (int *num)
 
bool getCurrent (int m, double *curr)
 
bool getCurrents (double *currs)
 
void printError (const std::string &func_name, const std::string &info, bool result)
 
- Public Member Functions inherited from yarp::dev::IAmplifierControl
virtual ~IAmplifierControl ()
 Destructor. More...
 
virtual bool enableAmp (int j)=0
 Enable the amplifier on a specific joint. More...
 
virtual bool disableAmp (int j)=0
 Disable the amplifier on a specific joint. More...
 
virtual bool getAmpStatus (int *st)=0
 
virtual bool getAmpStatus (int j, int *v)=0
 
virtual bool getCurrents (double *vals)=0
 
virtual bool getCurrent (int j, double *val)=0
 
virtual bool getMaxCurrent (int j, double *v)=0
 Returns the maximum electric current allowed for a given motor. More...
 
virtual bool setMaxCurrent (int j, double v)=0
 
virtual bool getNominalCurrent (int m, double *val)
 
virtual bool setNominalCurrent (int m, const double val)
 
virtual bool getPeakCurrent (int m, double *val)
 
virtual bool setPeakCurrent (int m, const double val)
 
virtual bool getPWM (int j, double *val)
 
virtual bool getPWMLimit (int j, double *val)
 
virtual bool setPWMLimit (int j, const double val)
 
virtual bool getPowerSupplyVoltage (int j, double *val)
 

Additional Inherited Members

- Public Attributes inherited from ControlBoardWrapperCommon
WrappedDevice device
 
size_t controlledJoints {0}
 
std::string partName
 
std::mutex rpcDataMutex
 
MultiJointData rpcData
 
std::mutex timeMutex
 
yarp::os::Stamp time
 

Detailed Description

Definition at line 13 of file ControlBoardWrapperAmplifierControl.h.

Member Function Documentation

◆ disableAmp()

bool ControlBoardWrapperAmplifierControl::disableAmp ( int  j)
overridevirtual

Disable the amplifier on a specific joint.

All computations within the board will be carried out normally, but the output will be disabled.

Returns
true/false on success/failure

Implements yarp::dev::IAmplifierControl.

Definition at line 36 of file ControlBoardWrapperAmplifierControl.cpp.

◆ enableAmp()

bool ControlBoardWrapperAmplifierControl::enableAmp ( int  j)
overridevirtual

Enable the amplifier on a specific joint.

Be careful, check that the output of the controller is appropriate (usually zero), to avoid generating abrupt movements.

Returns
true/false on success/failure

Implements yarp::dev::IAmplifierControl.

Definition at line 13 of file ControlBoardWrapperAmplifierControl.cpp.

◆ getAmpStatus() [1/2]

bool ControlBoardWrapperAmplifierControl::getAmpStatus ( int *  st)
overridevirtual

◆ getAmpStatus() [2/2]

bool ControlBoardWrapperAmplifierControl::getAmpStatus ( int  j,
int *  v 
)
overridevirtual

◆ getCurrent()

bool ControlBoardWrapperAmplifierControl::getCurrent ( int  m,
double *  curr 
)
inlineoverridevirtual

◆ getCurrents()

bool ControlBoardWrapperAmplifierControl::getCurrents ( double *  currs)
inlineoverridevirtual

◆ getMaxCurrent()

bool ControlBoardWrapperAmplifierControl::getMaxCurrent ( int  j,
double *  v 
)
overridevirtual

Returns the maximum electric current allowed for a given motor.

Exceeding this value will trigger instantaneous hardware fault.

Parameters
jmotor number
vthe return value
Returns
probably true, might return false in bad times

Implements yarp::dev::IAmplifierControl.

Definition at line 137 of file ControlBoardWrapperAmplifierControl.cpp.

◆ getNominalCurrent()

bool ControlBoardWrapperAmplifierControl::getNominalCurrent ( int  m,
double *  val 
)
overridevirtual

Reimplemented from yarp::dev::IAmplifierControl.

Definition at line 162 of file ControlBoardWrapperAmplifierControl.cpp.

◆ getPeakCurrent()

bool ControlBoardWrapperAmplifierControl::getPeakCurrent ( int  m,
double *  val 
)
overridevirtual

Reimplemented from yarp::dev::IAmplifierControl.

Definition at line 181 of file ControlBoardWrapperAmplifierControl.cpp.

◆ getPowerSupplyVoltage()

bool ControlBoardWrapperAmplifierControl::getPowerSupplyVoltage ( int  m,
double *  val 
)
overridevirtual

Reimplemented from yarp::dev::IAmplifierControl.

Definition at line 292 of file ControlBoardWrapperAmplifierControl.cpp.

◆ getPWM()

bool ControlBoardWrapperAmplifierControl::getPWM ( int  m,
double *  val 
)
overridevirtual

Reimplemented from yarp::dev::IAmplifierControl.

Definition at line 234 of file ControlBoardWrapperAmplifierControl.cpp.

◆ getPWMLimit()

bool ControlBoardWrapperAmplifierControl::getPWMLimit ( int  m,
double *  val 
)
overridevirtual

Reimplemented from yarp::dev::IAmplifierControl.

Definition at line 254 of file ControlBoardWrapperAmplifierControl.cpp.

◆ setMaxCurrent()

bool ControlBoardWrapperAmplifierControl::setMaxCurrent ( int  j,
double  v 
)
overridevirtual

◆ setNominalCurrent()

bool ControlBoardWrapperAmplifierControl::setNominalCurrent ( int  m,
const double  val 
)
overridevirtual

Reimplemented from yarp::dev::IAmplifierControl.

Definition at line 217 of file ControlBoardWrapperAmplifierControl.cpp.

◆ setPeakCurrent()

bool ControlBoardWrapperAmplifierControl::setPeakCurrent ( int  m,
const double  val 
)
overridevirtual

Reimplemented from yarp::dev::IAmplifierControl.

Definition at line 200 of file ControlBoardWrapperAmplifierControl.cpp.

◆ setPWMLimit()

bool ControlBoardWrapperAmplifierControl::setPWMLimit ( int  m,
const double  val 
)
overridevirtual

Reimplemented from yarp::dev::IAmplifierControl.

Definition at line 275 of file ControlBoardWrapperAmplifierControl.cpp.


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