YARP
Yet Another Robot Platform
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yarp::dev::IAmplifierControl Class Referenceabstract
yarp::dev Interfaces » Device Interfaces » Motor Interfaces

Interface for control devices, amplifier commands. More...

#include <yarp/dev/IAmplifierControl.h>

+ Inheritance diagram for yarp::dev::IAmplifierControl:

Public Member Functions

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)
 

Detailed Description

Interface for control devices, amplifier commands.

Definition at line 25 of file IAmplifierControl.h.

Constructor & Destructor Documentation

◆ ~IAmplifierControl()

virtual yarp::dev::IAmplifierControl::~IAmplifierControl ( )
inlinevirtual

Destructor.

Definition at line 31 of file IAmplifierControl.h.

Member Function Documentation

◆ disableAmp()

virtual bool yarp::dev::IAmplifierControl::disableAmp ( int  j)
pure virtual

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

Implemented in ControlBoardRemapper, ControlBoardWrapperAmplifierControl, FakeBot, RemoteControlBoard, and yarp::dev::ImplementAmplifierControl.

◆ enableAmp()

virtual bool yarp::dev::IAmplifierControl::enableAmp ( int  j)
pure virtual

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

Implemented in ControlBoardRemapper, ControlBoardWrapperAmplifierControl, FakeBot, RemoteControlBoard, and yarp::dev::ImplementAmplifierControl.

◆ getAmpStatus() [1/2]

virtual bool yarp::dev::IAmplifierControl::getAmpStatus ( int *  st)
pure virtual

Implemented in ControlBoardRemapper, ControlBoardWrapperAmplifierControl, FakeBot, RemoteControlBoard, and yarp::dev::ImplementAmplifierControl.

◆ getAmpStatus() [2/2]

virtual bool yarp::dev::IAmplifierControl::getAmpStatus ( int  j,
int *  v 
)
pure virtual

Implemented in RemoteControlBoard, yarp::dev::ImplementAmplifierControl, ControlBoardRemapper, ControlBoardWrapperAmplifierControl, and FakeBot.

◆ getCurrent()

virtual bool yarp::dev::IAmplifierControl::getCurrent ( int  j,
double *  val 
)
pure virtual

Implemented in FakeBot, RemoteControlBoard, yarp::dev::ImplementAmplifierControl, ControlBoardRemapper, and ControlBoardWrapperAmplifierControl.

◆ getCurrents()

virtual bool yarp::dev::IAmplifierControl::getCurrents ( double *  vals)
pure virtual

Implemented in ControlBoardRemapper, ControlBoardWrapperAmplifierControl, FakeBot, RemoteControlBoard, and yarp::dev::ImplementAmplifierControl.

◆ getMaxCurrent()

virtual bool yarp::dev::IAmplifierControl::getMaxCurrent ( int  j,
double *  v 
)
pure virtual

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

Implemented in ControlBoardRemapper, ControlBoardWrapperAmplifierControl, FakeBot, RemoteControlBoard, and yarp::dev::ImplementAmplifierControl.

◆ getNominalCurrent()

virtual bool yarp::dev::IAmplifierControl::getNominalCurrent ( int  m,
double *  val 
)
inlinevirtual

Reimplemented in ControlBoardRemapper, ControlBoardWrapperAmplifierControl, RemoteControlBoard, and yarp::dev::ImplementAmplifierControl.

Definition at line 100 of file IAmplifierControl.h.

◆ getPeakCurrent()

virtual bool yarp::dev::IAmplifierControl::getPeakCurrent ( int  m,
double *  val 
)
inlinevirtual

Reimplemented in ControlBoardRemapper, ControlBoardWrapperAmplifierControl, RemoteControlBoard, and yarp::dev::ImplementAmplifierControl.

Definition at line 122 of file IAmplifierControl.h.

◆ getPowerSupplyVoltage()

virtual bool yarp::dev::IAmplifierControl::getPowerSupplyVoltage ( int  j,
double *  val 
)
inlinevirtual

Reimplemented in yarp::dev::ImplementAmplifierControl, ControlBoardRemapper, ControlBoardWrapperAmplifierControl, and RemoteControlBoard.

Definition at line 164 of file IAmplifierControl.h.

◆ getPWM()

virtual bool yarp::dev::IAmplifierControl::getPWM ( int  j,
double *  val 
)
inlinevirtual

Reimplemented in yarp::dev::ImplementAmplifierControl, ControlBoardRemapper, ControlBoardWrapperAmplifierControl, and RemoteControlBoard.

Definition at line 141 of file IAmplifierControl.h.

◆ getPWMLimit()

virtual bool yarp::dev::IAmplifierControl::getPWMLimit ( int  j,
double *  val 
)
inlinevirtual

Reimplemented in yarp::dev::ImplementAmplifierControl, ControlBoardRemapper, ControlBoardWrapperAmplifierControl, and RemoteControlBoard.

Definition at line 149 of file IAmplifierControl.h.

◆ setMaxCurrent()

virtual bool yarp::dev::IAmplifierControl::setMaxCurrent ( int  j,
double  v 
)
pure virtual

Implemented in ControlBoardRemapper, ControlBoardWrapperAmplifierControl, FakeBot, RemoteControlBoard, and yarp::dev::ImplementAmplifierControl.

◆ setNominalCurrent()

virtual bool yarp::dev::IAmplifierControl::setNominalCurrent ( int  m,
const double  val 
)
inlinevirtual

Reimplemented in ControlBoardRemapper, ControlBoardWrapperAmplifierControl, RemoteControlBoard, and yarp::dev::ImplementAmplifierControl.

Definition at line 111 of file IAmplifierControl.h.

◆ setPeakCurrent()

virtual bool yarp::dev::IAmplifierControl::setPeakCurrent ( int  m,
const double  val 
)
inlinevirtual

Reimplemented in ControlBoardRemapper, ControlBoardWrapperAmplifierControl, RemoteControlBoard, and yarp::dev::ImplementAmplifierControl.

Definition at line 133 of file IAmplifierControl.h.

◆ setPWMLimit()

virtual bool yarp::dev::IAmplifierControl::setPWMLimit ( int  j,
const double  val 
)
inlinevirtual

Reimplemented in yarp::dev::ImplementAmplifierControl, ControlBoardRemapper, ControlBoardWrapperAmplifierControl, and RemoteControlBoard.

Definition at line 157 of file IAmplifierControl.h.

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