#include <yarp/dev/ImplementAmplifierControl.h>

Inheritance diagram for yarp::dev::ImplementAmplifierControl:

Public Member Functions
	ImplementAmplifierControl (yarp::dev::IAmplifierControlRaw *y)

virtual	~ImplementAmplifierControl ()
	Destructor.

bool	enableAmp (int j) override
	Enable the amplifier on a specific joint.

bool	disableAmp (int j) override
	Disable the amplifier on a specific joint.

bool	getAmpStatus (int *st) override

bool	getAmpStatus (int j, int *st) override

bool	getCurrents (double *vals) override

bool	getCurrent (int j, double *val) 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.

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 j, double *val) override

bool	getPWMLimit (int j, double *val) override

bool	setPWMLimit (int j, const double val) override

bool	getPowerSupplyVoltage (int j, double *val) override

Public Member Functions inherited from yarp::dev::IAmplifierControl
virtual	~IAmplifierControl ()
	Destructor.

Protected Member Functions
bool	initialize (int size, const int amap, const double enc, const double zos, const double ampereFactor=NULL, const double *voltFactor=NULL)
	Initialize the internal data and alloc memory.

bool	uninitialize ()
	Clean up internal data and memory.

Protected Attributes
IAmplifierControlRaw *	iAmplifier

void *	helper

double *	dTemp

int *	iTemp

Detailed Description

Definition at line 16 of file ImplementAmplifierControl.h.

Constructor & Destructor Documentation

◆ ImplementAmplifierControl()

ImplementAmplifierControl::ImplementAmplifierControl ( yarp::dev::IAmplifierControlRaw * y )

Definition at line 18 of file ImplementAmplifierControl.cpp.

◆ ~ImplementAmplifierControl()

ImplementAmplifierControl::~ImplementAmplifierControl ( )

virtual

Destructor.

Perform uninitialize if needed.

Definition at line 26 of file ImplementAmplifierControl.cpp.

Member Function Documentation

◆ disableAmp()

bool ImplementAmplifierControl::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 73 of file ImplementAmplifierControl.cpp.

◆ enableAmp()

bool ImplementAmplifierControl::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 66 of file ImplementAmplifierControl.cpp.

◆ getAmpStatus() [1/2]

bool ImplementAmplifierControl::getAmpStatus ( int * st )

overridevirtual

Implements yarp::dev::IAmplifierControl.

Definition at line 96 of file ImplementAmplifierControl.cpp.

◆ getAmpStatus() [2/2]

bool ImplementAmplifierControl::getAmpStatus	(	int	j,
		int *	st
	)

overridevirtual

Implements yarp::dev::IAmplifierControl.

Definition at line 104 of file ImplementAmplifierControl.cpp.

◆ getCurrent()

bool ImplementAmplifierControl::getCurrent	(	int	j,
		double *	val
	)

overridevirtual

Implements yarp::dev::IAmplifierControl.

Definition at line 87 of file ImplementAmplifierControl.cpp.

◆ getCurrents()

bool ImplementAmplifierControl::getCurrents ( double * vals )

overridevirtual

Implements yarp::dev::IAmplifierControl.

Definition at line 80 of file ImplementAmplifierControl.cpp.

◆ getMaxCurrent()

bool ImplementAmplifierControl::getMaxCurrent	(	int	j,
		double *	v
	)

overridevirtual

Returns the maximum electric current allowed for a given motor.

The behavior of the board/amplifier when this limit is reached depends on the implementation.

Parameters

j	motor number
v	the return value

Returns: probably true, might return false in bad times

Implements yarp::dev::IAmplifierControl.

Definition at line 120 of file ImplementAmplifierControl.cpp.

◆ getNominalCurrent()

bool ImplementAmplifierControl::getNominalCurrent	(	int	m,
		double *	val
	)

overridevirtual

Reimplemented from yarp::dev::IAmplifierControl.

Definition at line 129 of file ImplementAmplifierControl.cpp.

◆ getPeakCurrent()

bool ImplementAmplifierControl::getPeakCurrent	(	int	m,
		double *	val
	)

overridevirtual

Reimplemented from yarp::dev::IAmplifierControl.

Definition at line 141 of file ImplementAmplifierControl.cpp.

◆ getPowerSupplyVoltage()

bool ImplementAmplifierControl::getPowerSupplyVoltage	(	int	j,
		double *	val
	)

overridevirtual

Reimplemented from yarp::dev::IAmplifierControl.

Definition at line 190 of file ImplementAmplifierControl.cpp.

◆ getPWM()

bool ImplementAmplifierControl::getPWM	(	int	j,
		double *	val
	)

overridevirtual

Reimplemented from yarp::dev::IAmplifierControl.

Definition at line 169 of file ImplementAmplifierControl.cpp.

◆ getPWMLimit()

bool ImplementAmplifierControl::getPWMLimit	(	int	j,
		double *	val
	)

overridevirtual

Reimplemented from yarp::dev::IAmplifierControl.

Definition at line 176 of file ImplementAmplifierControl.cpp.

◆ initialize()

bool ImplementAmplifierControl::initialize	(	int	size,
		const int *	amap,
		const double *	enc,
		const double *	zos,
		const double *	ampereFactor = `NULL`,
		const double *	voltFactor = `NULL`
	)

protected

Initialize the internal data and alloc memory.

Parameters

size	is the number of controlled axes the driver deals with.
amap	is a lookup table mapping axes onto physical drivers.
enc	is an array containing the encoder to angles conversion factors.
zos	is an array containing the zeros of the encoders.