YARP
Yet Another Robot Platform
ControlBoardWrapperMotor Class Reference

#include <ControlBoardWrapper/ControlBoardWrapperMotor.h>

+ Inheritance diagram for ControlBoardWrapperMotor:

Public Member Functions

bool getNumberOfMotors (int *num) override
 Get the number of available motors. More...
 
bool getTemperature (int m, double *val) override
 Get temperature of a motor. More...
 
bool getTemperatures (double *vals) override
 Get temperature of all the motors. More...
 
bool getTemperatureLimit (int m, double *val) override
 Retreives the current temperature limit for a specific motor. More...
 
bool setTemperatureLimit (int m, const double val) override
 Set the temperature limit for a specific motor. More...
 
bool getGearboxRatio (int m, double *val) override
 Get the gearbox ratio for a specific motor. More...
 
bool setGearboxRatio (int m, const double val) override
 Set the gearbox ratio for a specific motor. More...
 
- 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::IMotor
virtual ~IMotor ()
 Destructor. More...
 
virtual bool getNumberOfMotors (int *num)=0
 Get the number of available motors. More...
 
virtual bool getTemperature (int m, double *val)=0
 Get temperature of a motor. More...
 
virtual bool getTemperatures (double *vals)=0
 Get temperature of all the motors. More...
 
virtual bool getTemperatureLimit (int m, double *temp)=0
 Retreives the current temperature limit for a specific motor. More...
 
virtual bool setTemperatureLimit (int m, const double temp)=0
 Set the temperature limit for a specific motor. More...
 
virtual bool getGearboxRatio (int m, double *val)
 Get the gearbox ratio for a specific motor. More...
 
virtual bool setGearboxRatio (int m, const double val)
 Set the gearbox ratio for a specific motor. More...
 

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 ControlBoardWrapperMotor.h.

Member Function Documentation

◆ getGearboxRatio()

bool ControlBoardWrapperMotor::getGearboxRatio ( int  m,
double *  val 
)
overridevirtual

Get the gearbox ratio for a specific motor.

Parameters
mmotor number
valretrieved gearbox ratio
Returns
true/false

Reimplemented from yarp::dev::IMotor.

Definition at line 86 of file ControlBoardWrapperMotor.cpp.

◆ getNumberOfMotors()

bool ControlBoardWrapperMotor::getNumberOfMotors ( int *  num)
inlineoverridevirtual

Get the number of available motors.

Parameters
numretrieved number of available motors
Returns
true/false

Implements yarp::dev::IMotor.

Definition at line 18 of file ControlBoardWrapperMotor.h.

◆ getTemperature()

bool ControlBoardWrapperMotor::getTemperature ( int  m,
double *  val 
)
overridevirtual

Get temperature of a motor.

Parameters
mmotor number
valretrieved motor temperature
Returns
true/false

Implements yarp::dev::IMotor.

Definition at line 10 of file ControlBoardWrapperMotor.cpp.

◆ getTemperatureLimit()

bool ControlBoardWrapperMotor::getTemperatureLimit ( int  m,
double *  temp 
)
overridevirtual

Retreives the current temperature limit for a specific motor.

The specific behavior of the motor when the temperature limit is exceeded depends on the implementation (power off recommended)

Parameters
mmotor number
tempthe current temperature limit.
Returns
true/false

Implements yarp::dev::IMotor.

Definition at line 53 of file ControlBoardWrapperMotor.cpp.

◆ getTemperatures()

bool ControlBoardWrapperMotor::getTemperatures ( double *  vals)
overridevirtual

Get temperature of all the motors.

Parameters
valspointer to an array containing all motor temperatures
Returns
true/false

Implements yarp::dev::IMotor.

Definition at line 27 of file ControlBoardWrapperMotor.cpp.

◆ setGearboxRatio()

bool ControlBoardWrapperMotor::setGearboxRatio ( int  m,
const double  val 
)
overridevirtual

Set the gearbox ratio for a specific motor.

Parameters
mmotor number
gearboxratio to be set
Returns
true/false

Reimplemented from yarp::dev::IMotor.

Definition at line 103 of file ControlBoardWrapperMotor.cpp.

◆ setTemperatureLimit()

bool ControlBoardWrapperMotor::setTemperatureLimit ( int  m,
const double  temp 
)
overridevirtual

Set the temperature limit for a specific motor.

The specific behavior of the motor when the temperature limit is exceeded depends on the implementation (power off recommended)

Parameters
mmotor number
tempthe temperature limit to be set
Returns
true/false

Implements yarp::dev::IMotor.

Definition at line 70 of file ControlBoardWrapperMotor.cpp.


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