#include <ControlBoardWrapper/ControlBoardWrapperAmplifierControl.h>
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 |
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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) |
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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 | |
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WrappedDevice | device |
size_t | controlledJoints {0} |
std::string | partName |
std::mutex | rpcDataMutex |
MultiJointData | rpcData |
std::mutex | timeMutex |
yarp::os::Stamp | time |
Definition at line 13 of file ControlBoardWrapperAmplifierControl.h.
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overridevirtual |
Disable the amplifier on a specific joint.
All computations within the board will be carried out normally, but the output will be disabled.
Implements yarp::dev::IAmplifierControl.
Definition at line 36 of file ControlBoardWrapperAmplifierControl.cpp.
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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.
Implements yarp::dev::IAmplifierControl.
Definition at line 13 of file ControlBoardWrapperAmplifierControl.cpp.
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overridevirtual |
Implements yarp::dev::IAmplifierControl.
Definition at line 67 of file ControlBoardWrapperAmplifierControl.cpp.
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overridevirtual |
Implements yarp::dev::IAmplifierControl.
Definition at line 94 of file ControlBoardWrapperAmplifierControl.cpp.
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inlineoverridevirtual |
Implements yarp::dev::IAmplifierControl.
Definition at line 22 of file ControlBoardWrapperAmplifierControl.h.
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inlineoverridevirtual |
Implements yarp::dev::IAmplifierControl.
Definition at line 23 of file ControlBoardWrapperAmplifierControl.h.
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overridevirtual |
Returns the maximum electric current allowed for a given motor.
Exceeding this value will trigger instantaneous hardware fault.
j | motor number |
v | the return value |
Implements yarp::dev::IAmplifierControl.
Definition at line 137 of file ControlBoardWrapperAmplifierControl.cpp.
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overridevirtual |
Reimplemented from yarp::dev::IAmplifierControl.
Definition at line 162 of file ControlBoardWrapperAmplifierControl.cpp.
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overridevirtual |
Reimplemented from yarp::dev::IAmplifierControl.
Definition at line 181 of file ControlBoardWrapperAmplifierControl.cpp.
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overridevirtual |
Reimplemented from yarp::dev::IAmplifierControl.
Definition at line 292 of file ControlBoardWrapperAmplifierControl.cpp.
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overridevirtual |
Reimplemented from yarp::dev::IAmplifierControl.
Definition at line 234 of file ControlBoardWrapperAmplifierControl.cpp.
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overridevirtual |
Reimplemented from yarp::dev::IAmplifierControl.
Definition at line 254 of file ControlBoardWrapperAmplifierControl.cpp.
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overridevirtual |
Implements yarp::dev::IAmplifierControl.
Definition at line 114 of file ControlBoardWrapperAmplifierControl.cpp.
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overridevirtual |
Reimplemented from yarp::dev::IAmplifierControl.
Definition at line 217 of file ControlBoardWrapperAmplifierControl.cpp.
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overridevirtual |
Reimplemented from yarp::dev::IAmplifierControl.
Definition at line 200 of file ControlBoardWrapperAmplifierControl.cpp.
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overridevirtual |
Reimplemented from yarp::dev::IAmplifierControl.
Definition at line 275 of file ControlBoardWrapperAmplifierControl.cpp.