#include <ControlBoardWrapper/ControlBoardWrapperCurrentControl.h>

Inheritance diagram for ControlBoardWrapperCurrentControl:

Public Member Functions
bool	getNumberOfMotors (int *num) override
	Retrieves the number of controlled axes from the current physical interface. More...

bool	getCurrent (int m, double *curr) override
	Get the instantaneous current measurement for a single motor. More...

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

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

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

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

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

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. More...

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

bool	getRefCurrent (int j, double *t) override
	Get the reference value of the current for a single 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::ICurrentControl
virtual	~ICurrentControl ()
	Destructor. 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 ControlBoardWrapperCurrentControl.h.

Member Function Documentation

◆ getCurrent()

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

inlineoverridevirtual

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 19 of file ControlBoardWrapperCurrentControl.h.

◆ getCurrentRange()

bool ControlBoardWrapperCurrentControl::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 11 of file ControlBoardWrapperCurrentControl.cpp.

◆ getCurrentRanges()

bool ControlBoardWrapperCurrentControl::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 34 of file ControlBoardWrapperCurrentControl.cpp.

◆ getCurrents()

bool ControlBoardWrapperCurrentControl::getCurrents ( double * currs )

inlineoverridevirtual

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 20 of file ControlBoardWrapperCurrentControl.h.

◆ getNumberOfMotors()

bool ControlBoardWrapperCurrentControl::getNumberOfMotors ( int * ax )

inlineoverridevirtual

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 18 of file ControlBoardWrapperCurrentControl.h.

◆ getRefCurrent()

bool ControlBoardWrapperCurrentControl::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 162 of file ControlBoardWrapperCurrentControl.cpp.

◆ getRefCurrents()

bool ControlBoardWrapperCurrentControl::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 136 of file ControlBoardWrapperCurrentControl.cpp.

◆ setRefCurrent()

bool ControlBoardWrapperCurrentControl::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 85 of file ControlBoardWrapperCurrentControl.cpp.

◆ setRefCurrents() [1/2]

bool ControlBoardWrapperCurrentControl::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 63 of file ControlBoardWrapperCurrentControl.cpp.

◆ setRefCurrents() [2/2]

bool ControlBoardWrapperCurrentControl::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 107 of file ControlBoardWrapperCurrentControl.cpp.

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

src/devices/ControlBoardWrapper/ControlBoardWrapperCurrentControl.h
src/devices/ControlBoardWrapper/ControlBoardWrapperCurrentControl.cpp

Public Member Functions

Additional Inherited Members

Detailed Description

Member Function Documentation

◆ getCurrent()

◆ getCurrentRange()

◆ getCurrentRanges()

◆ getCurrents()

◆ getNumberOfMotors()

◆ getRefCurrent()

◆ getRefCurrents()

◆ setRefCurrent()

◆ setRefCurrents() [1/2]

◆ setRefCurrents() [2/2]