#include <yarp/dev/ImplementCurrentControl.h>

Inheritance diagram for yarp::dev::ImplementCurrentControl:

Public Member Functions
	ImplementCurrentControl (yarp::dev::ICurrentControlRaw *y)

virtual	~ImplementCurrentControl ()
	Destructor.

bool	getNumberOfMotors (int *ax) override
	Retrieves the number of controlled axes from the current physical interface.

bool	getRefCurrent (int j, double *) override
	Get the reference value of the current for a single motor.

bool	getRefCurrents (double *t) override
	Get the reference value of the currents for all motors.

bool	setRefCurrents (const double *t) override
	Set the reference value of the currents for all motors.

bool	setRefCurrent (int j, double t) override
	Set the reference value of the current for a single motor.

bool	setRefCurrents (const int n_joint, const int joints, const double t) override
	Set the reference value of the current for a group of motors.

bool	getCurrents (double *t) override
	Get the instantaneous current measurement for all motors.

bool	getCurrent (int j, double *t) override
	Get the instantaneous current measurement for a single motor.

bool	getCurrentRange (int j, double min, double max) override
	Get the full scale of the current measurement for a given motor (e.g.

bool	getCurrentRanges (double min, double max) override
	Get the full scale of the current measurements for all motors motor (e.g.

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

Protected Member Functions
bool	initialize (int size, const int amap, const double ampsToSens)
	Initialize the internal data and alloc memory.

bool	uninitialize ()
	Clean up internal data and memory.

Protected Attributes
yarp::dev::ICurrentControlRaw *	iCurrentRaw

void *	helper

yarp::dev::impl::FixedSizeBuffersManager< int > *	intBuffManager

yarp::dev::impl::FixedSizeBuffersManager< double > *	doubleBuffManager

Detailed Description

Definition at line 23 of file ImplementCurrentControl.h.

Constructor & Destructor Documentation

◆ ImplementCurrentControl()

ImplementCurrentControl::ImplementCurrentControl ( yarp::dev::ICurrentControlRaw * y )

Definition at line 16 of file ImplementCurrentControl.cpp.

◆ ~ImplementCurrentControl()

ImplementCurrentControl::~ImplementCurrentControl ( )

virtual

Destructor.

Perform uninitialize if needed.

Definition at line 23 of file ImplementCurrentControl.cpp.

Member Function Documentation

◆ getCurrent()

bool ImplementCurrentControl::getCurrent	(	int	m,
		double *	curr
	)

overridevirtual

Get the instantaneous current measurement for a single motor.

Parameters

m	motor number
curr	pointer to the result value. Value is expressed in amperes.

Returns: true/false on success/failure

Implements yarp::dev::ICurrentControl.

Definition at line 144 of file ImplementCurrentControl.cpp.

◆ getCurrentRange()

bool ImplementCurrentControl::getCurrentRange	(	int	m,
		double *	min,
		double *	max
	)

overridevirtual

Get the full scale of the current measurement for a given motor (e.g.

-20A +20A) Reference values set by user with methods such as setRefCurrent() should be in this range. This method is not related to the current overload protection methods belonging to the iAmplifierControl interface.

Parameters

m	motor number
min	minimum current of the motor m
max	maximum current of the motor m

Returns: true/false on success/failure

Implements yarp::dev::ICurrentControl.

Definition at line 168 of file ImplementCurrentControl.cpp.

◆ getCurrentRanges()

bool ImplementCurrentControl::getCurrentRanges	(	double *	min,
		double *	max
	)

overridevirtual

Get the full scale of the current measurements for all motors motor (e.g.

-20A +20A) Reference values set by user with methods such as setRefCurrent() should be in this range. This method is not related to the current overload protection methods belonging to the iAmplifierControl interface.

Parameters

min	pointer to the array that will store minimum currents
max	pointer to the array that will store maximum currents

Returns: true/false on success/failure

Implements yarp::dev::ICurrentControl.

Definition at line 156 of file ImplementCurrentControl.cpp.

◆ getCurrents()

bool ImplementCurrentControl::getCurrents ( double * currs )

overridevirtual

Get the instantaneous current measurement for all motors.

Parameters

currs pointer to the array that will store the output. Values are expressed in amperes.

Returns: true/false on success/failure

Implements yarp::dev::ICurrentControl.

Definition at line 113 of file ImplementCurrentControl.cpp.

◆ getNumberOfMotors()

bool ImplementCurrentControl::getNumberOfMotors ( int * ax )

overridevirtual

Retrieves the number of controlled axes from the current physical interface.

Parameters

ax	returns the number of controlled axes.

Returns: true/false on success/failure

Implements yarp::dev::ICurrentControl.

Definition at line 69 of file ImplementCurrentControl.cpp.

◆ getRefCurrent()

bool ImplementCurrentControl::getRefCurrent	(	int	m,
		double *	curr
	)

overridevirtual

Get the reference value of the current for a single motor.

Parameters

m	motor number
curr	the current reference value for motor m. Value is expressed in amperes.

Returns: true/false on success/failure

Implements yarp::dev::ICurrentControl.

Definition at line 74 of file ImplementCurrentControl.cpp.

◆ getRefCurrents()

bool ImplementCurrentControl::getRefCurrents ( double * currs )

overridevirtual

Get the reference value of the currents for all motors.

Parameters

currs pointer to the array to be filled with reference current values. Values are expressed in amperes.

Returns: true/false on success/failure

Implements yarp::dev::ICurrentControl.

Definition at line 86 of file ImplementCurrentControl.cpp.

◆ initialize()

bool ImplementCurrentControl::initialize	(	int	size,
		const int *	amap,
		const double *	ampsToSens
	)

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.

Returns: true if initialized succeeded, false if it wasn't executed, or assert.

Definition at line 28 of file ImplementCurrentControl.cpp.

◆ setRefCurrent()

bool ImplementCurrentControl::setRefCurrent	(	int	m,
		double	curr
	)

overridevirtual

Set the reference value of the current for a single motor.

Parameters

m	motor number
curr	the current reference value for motor m. Value is expressed in amperes.

Returns: true/false on success/failure

Implements yarp::dev::ICurrentControl.

Definition at line 104 of file ImplementCurrentControl.cpp.

◆ setRefCurrents() [1/2]

bool ImplementCurrentControl::setRefCurrents ( const double * currs )

overridevirtual

Set the reference value of the currents for all motors.

Parameters

currs the array containing the reference current values. Values are expressed in amperes.

Returns: true/false on success/failure

Implements yarp::dev::ICurrentControl.

Definition at line 95 of file ImplementCurrentControl.cpp.

◆ setRefCurrents() [2/2]

bool ImplementCurrentControl::setRefCurrents	(	const int	n_motor,
		const int *	motors,
		const double *	currs
	)

overridevirtual

Set the reference value of the current for a group of motors.

Parameters

n_motor	size of motors ans currs arrays
motors	pointer to the array containing the list of motor numbers
currs	pointer to the array specifying the new current references

Returns: true/false on success/failure

Implements yarp::dev::ICurrentControl.

Definition at line 122 of file ImplementCurrentControl.cpp.

◆ uninitialize()

bool ImplementCurrentControl::uninitialize ( )

protected

Clean up internal data and memory.

Returns: true if uninitialization is executed, false otherwise.

Definition at line 46 of file ImplementCurrentControl.cpp.

Member Data Documentation

◆ doubleBuffManager

yarp::dev::impl::FixedSizeBuffersManager<double>* yarp::dev::ImplementCurrentControl::doubleBuffManager

protected

Definition at line 29 of file ImplementCurrentControl.h.

◆ helper

void* yarp::dev::ImplementCurrentControl::helper

protected

Definition at line 27 of file ImplementCurrentControl.h.

◆ iCurrentRaw

yarp::dev::ICurrentControlRaw* yarp::dev::ImplementCurrentControl::iCurrentRaw

protected

Definition at line 26 of file ImplementCurrentControl.h.

◆ intBuffManager

yarp::dev::impl::FixedSizeBuffersManager<int>* yarp::dev::ImplementCurrentControl::intBuffManager

protected

Definition at line 28 of file ImplementCurrentControl.h.

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

src/libYARP_dev/src/yarp/dev/ImplementCurrentControl.h
src/libYARP_dev/src/yarp/dev/ImplementCurrentControl.cpp

Public Member Functions

Protected Member Functions

Protected Attributes

Detailed Description

Constructor & Destructor Documentation

◆ ImplementCurrentControl()

◆ ~ImplementCurrentControl()

Member Function Documentation

◆ getCurrent()

◆ getCurrentRange()

◆ getCurrentRanges()

◆ getCurrents()

◆ getNumberOfMotors()

◆ getRefCurrent()

◆ getRefCurrents()

◆ initialize()

◆ setRefCurrent()

◆ setRefCurrents() [1/2]

◆ setRefCurrents() [2/2]

◆ uninitialize()

Member Data Documentation

◆ doubleBuffManager

◆ helper

◆ iCurrentRaw

◆ intBuffManager