canbusmotioncontrol : driver for motor control boards on a CAN bus. More...

#include <CanBusMotionControl.h>

Inheritance diagram for yarp::dev::CanBusMotionControl:

Public Member Functions
	CanBusMotionControl ()
	Default constructor.
virtual	~CanBusMotionControl ()
	Destructor.
virtual bool	open (yarp::os::Searchable &config)
	Open the device driver and start communication with the hardware.
bool	open (const CanBusMotionControlParameters &par)
	Open the device driver.
virtual bool	close (void)
	Closes the device driver.
yarp::dev::DeviceDriver *	createDevice (yarp::os::Searchable &config)
void	setServerLogger (const IServerLogger *server)
virtual bool	setPidRaw (const PidControlTypeEnum &pidtype, int j, const Pid &pid) override
virtual bool	setPidsRaw (const PidControlTypeEnum &pidtype, const Pid *pids) override
virtual bool	setPidReferenceRaw (const PidControlTypeEnum &pidtype, int j, double ref) override
	cmd is a SingleAxis poitner with 1 double arg
virtual bool	setPidReferencesRaw (const PidControlTypeEnum &pidtype, const double *refs) override
	cmd is an array of double (LATER: to be optimized).
virtual bool	setPidErrorLimitRaw (const PidControlTypeEnum &pidtype, int j, double limit) override
virtual bool	setPidErrorLimitsRaw (const PidControlTypeEnum &pidtype, const double *limits) override
virtual bool	getPidErrorRaw (const PidControlTypeEnum &pidtype, int j, double *err) override
virtual bool	getPidErrorsRaw (const PidControlTypeEnum &pidtype, double *errs) override
virtual bool	getPidOutputRaw (const PidControlTypeEnum &pidtype, int j, double *out) override
virtual bool	getPidOutputsRaw (const PidControlTypeEnum &pidtype, double *outs) override
virtual bool	getPidRaw (const PidControlTypeEnum &pidtype, int j, Pid *pid) override
virtual bool	getPidsRaw (const PidControlTypeEnum &pidtype, Pid *pids) override
virtual bool	getPidReferenceRaw (const PidControlTypeEnum &pidtype, int j, double *ref) override
virtual bool	getPidReferencesRaw (const PidControlTypeEnum &pidtype, double *refs) override
virtual bool	getPidErrorLimitRaw (const PidControlTypeEnum &pidtype, int j, double *limit) override
virtual bool	getPidErrorLimitsRaw (const PidControlTypeEnum &pidtype, double *limits) override
virtual bool	resetPidRaw (const PidControlTypeEnum &pidtype, int j) override
virtual bool	disablePidRaw (const PidControlTypeEnum &pidtype, int j) override
virtual bool	enablePidRaw (const PidControlTypeEnum &pidtype, int j) override
virtual bool	setPidOffsetRaw (const PidControlTypeEnum &pidtype, int j, double v) override
virtual bool	isPidEnabledRaw (const PidControlTypeEnum &pidtype, int j, bool *enabled)
virtual bool	getAxes (int *ax) override
	POSITION CONTROL INTERFACE RAW.
virtual bool	positionMoveRaw (int j, double ref) override
virtual bool	positionMoveRaw (const double *refs) override
virtual bool	relativeMoveRaw (int j, double delta) override
virtual bool	relativeMoveRaw (const double *deltas) override
virtual bool	checkMotionDoneRaw (bool *flag) override
	ret is a pointer to a bool
virtual bool	checkMotionDoneRaw (int j, bool *flag) override
	check motion done, single axis.
virtual bool	setRefSpeedRaw (int j, double sp) override
virtual bool	setRefSpeedsRaw (const double *spds) override
virtual bool	setRefAccelerationRaw (int j, double acc) override
virtual bool	setRefAccelerationsRaw (const double *accs) override
virtual bool	getRefSpeedRaw (int j, double *ref) override
virtual bool	getRefSpeedsRaw (double *spds) override
	cmd is an array of double (LATER: to be optimized).
virtual bool	getRefAccelerationRaw (int j, double *acc) override
	cmd is an array of double (LATER: to be optimized).
virtual bool	getRefAccelerationsRaw (double *accs) override
	cmd is an array of double (LATER: to be optimized).
virtual bool	stopRaw (int j) override
virtual bool	stopRaw () override
bool	helper_setPosPidRaw (int j, const Pid &pid)
bool	helper_getPosPidRaw (int j, Pid *pid)
virtual bool	getRefTorqueRaw (int j, double *ref_trq) override
	TORQUE CONTROL INTERFACE RAW.
virtual bool	getRefTorquesRaw (double *ref_trqs) override
	cmd is an array of double (LATER: to be optimized).
virtual bool	setRefTorqueRaw (int j, double ref_trq) override
	cmd is a SingleAxis poitner with 1 double arg
virtual bool	setRefTorquesRaw (const double *ref_trqs) override
	cmd is an array of double (LATER: to be optimized).
virtual bool	setRefTorquesRaw (const int n_joint, const int joints, const double t) override
virtual bool	getTorqueRaw (int j, double *trq) override
	cmd is a SingleAxis pointer with 1 double arg
virtual bool	getTorquesRaw (double *trqs) override
	cmd is an array of double (LATER: to be optimized).
virtual bool	getTorqueRangeRaw (int j, double min, double max) override
virtual bool	getTorqueRangesRaw (double min, double max) override
virtual bool	getMotorTorqueParamsRaw (int j, MotorTorqueParameters *params) override
virtual bool	setMotorTorqueParamsRaw (int j, const MotorTorqueParameters params) override
bool	getFilterTypeRaw (int j, int *type)
bool	setFilterTypeRaw (int j, int type)
bool	helper_setTrqPidRaw (int j, const Pid &pid)
bool	helper_getTrqPidRaw (int j, Pid *pid)
virtual bool	getImpedanceRaw (int j, double stiff, double damp) override
	IMPEDANCE CONTROL INTERFACE RAW.
virtual bool	setImpedanceRaw (int j, double stiff, double damp) override
virtual bool	getImpedanceOffsetRaw (int j, double *offs) override
virtual bool	setImpedanceOffsetRaw (int j, double offs) override
virtual bool	getCurrentImpedanceLimitRaw (int j, double min_stiff, double max_stiff, double min_damp, double max_damp) override
virtual bool	getControlModeRaw (int j, int *v) override
virtual bool	getControlModesRaw (int *v) override
virtual bool	getControlModesRaw (const int n_joint, const int joints, int modes) override
virtual bool	setControlModeRaw (const int j, const int mode) override
virtual bool	setControlModesRaw (const int n_joint, const int joints, int modes) override
virtual bool	setControlModesRaw (int *modes) override
virtual bool	getRemoteVariableRaw (std::string key, yarp::os::Bottle &val) override
virtual bool	setRemoteVariableRaw (std::string key, const yarp::os::Bottle &val) override
virtual bool	getRemoteVariablesListRaw (yarp::os::Bottle *listOfKeys) override
virtual bool	velocityMoveRaw (int j, double sp) override
	Velocity control interface raw.
virtual bool	velocityMoveRaw (const double *sp) override
	cmd is an array of double of length njoints specifying speed for each axis
bool	setVelocityShiftRaw (int j, double val)
bool	setVelocityTimeoutRaw (int j, double val)
bool	setSpeedEstimatorShiftRaw (int j, double jnt_speed, double jnt_acc, double mot_speed, double mot_acc)
virtual bool	resetEncoderRaw (int j) override
virtual bool	resetEncodersRaw () override
virtual bool	setEncoderRaw (int j, double val) override
virtual bool	setEncodersRaw (const double *vals) override
virtual bool	getEncoderRaw (int j, double *v) override
virtual bool	getEncodersRaw (double *encs) override
virtual bool	getEncoderSpeedRaw (int j, double *sp) override
virtual bool	getEncoderSpeedsRaw (double *spds) override
virtual bool	getEncoderAccelerationRaw (int j, double *spds) override
virtual bool	getEncoderAccelerationsRaw (double *accs) override
virtual bool	getEncodersTimedRaw (double v, double t) override
virtual bool	getEncoderTimedRaw (int j, double v, double t) override
virtual bool	getNumberOfMotorEncodersRaw (int *num) override
virtual bool	resetMotorEncoderRaw (int m) override
virtual bool	resetMotorEncodersRaw () override
virtual bool	setMotorEncoderRaw (int m, const double val) override
virtual bool	setMotorEncodersRaw (const double *vals) override
virtual bool	getMotorEncoderRaw (int m, double *v) override
virtual bool	getMotorEncodersRaw (double *encs) override
virtual bool	getMotorEncoderCountsPerRevolutionRaw (int m, double *cpr) override
virtual bool	setMotorEncoderCountsPerRevolutionRaw (int m, const double cpr) override
virtual bool	getMotorEncoderSpeedRaw (int m, double *sp) override
virtual bool	getMotorEncoderSpeedsRaw (double *spds) override
virtual bool	getMotorEncoderAccelerationRaw (int m, double *spds) override
virtual bool	getMotorEncoderAccelerationsRaw (double *accs) override
virtual bool	getMotorEncodersTimedRaw (double v, double t) override
virtual bool	getMotorEncoderTimedRaw (int m, double v, double t) override
virtual bool	enableAmpRaw (int j) override
virtual bool	disableAmpRaw (int j) override
virtual bool	getCurrentsRaw (double *vals) override
virtual bool	getCurrentRaw (int j, double *val) override
virtual bool	setMaxCurrentRaw (int j, double val) override
virtual bool	getMaxCurrentRaw (int j, double *val) override
virtual bool	getAmpStatusRaw (int *st) override
virtual bool	getAmpStatusRaw (int j, int *st) override
virtual bool	getPWMRaw (int j, double *val) override
virtual bool	getPWMLimitRaw (int j, double *val) override
virtual bool	setPWMLimitRaw (int j, const double val) override
virtual bool	getPowerSupplyVoltageRaw (int j, double *val) override
virtual bool	getNumberOfMotorsRaw (int *m) override
	IMotor.
virtual bool	getTemperatureRaw (int m, double *val) override
virtual bool	getTemperaturesRaw (double *vals) override
virtual bool	getTemperatureLimitRaw (int m, double *temp) override
virtual bool	setTemperatureLimitRaw (int m, const double temp) override
virtual bool	getPeakCurrentRaw (int m, double *val) override
virtual bool	setPeakCurrentRaw (int m, const double val) override
virtual bool	getNominalCurrentRaw (int m, double *val) override
virtual bool	setNominalCurrentRaw (int m, const double val) override
virtual bool	getAxisNameRaw (int axis, std::string &name) override
	IAxisInfo.
virtual bool	getJointTypeRaw (int axis, yarp::dev::JointTypeEnum &type) override
virtual bool	calibrationDoneRaw (int j) override
virtual bool	calibrateAxisWithParamsRaw (int axis, unsigned int type, double p1, double p2, double p3) override
virtual bool	setCalibrationParametersRaw (int j, const CalibrationParameters &params) override
virtual bool	setPrintFunction (int(f)(const char fmt,...))
	IControlDebug Interface.
virtual bool	loadBootMemory ()
virtual bool	saveBootMemory ()
virtual bool	setParameterRaw (int j, unsigned int type, double value)
virtual bool	getParameterRaw (int j, unsigned int type, double *value)
virtual bool	setDebugParameterRaw (int j, unsigned int index, double value)
virtual bool	getDebugParameterRaw (int j, unsigned int index, double *value)
virtual bool	setDebugReferencePositionRaw (int j, double value)
virtual bool	getDebugReferencePositionRaw (int j, double *value)
virtual bool	setLimitsRaw (int axis, double min, double max) override
virtual bool	getLimitsRaw (int axis, double min, double max) override
virtual bool	setVelLimitsRaw (int axis, double min, double max) override
virtual bool	getVelLimitsRaw (int axis, double min, double max) override
virtual yarp::os::Stamp	getLastInputStamp () override
virtual bool	positionMoveRaw (const int n_joint, const int joints, const double refs) override
virtual bool	relativeMoveRaw (const int n_joint, const int joints, const double deltas) override
virtual bool	checkMotionDoneRaw (const int n_joint, const int joints, bool flags) override
virtual bool	setRefSpeedsRaw (const int n_joint, const int joints, const double spds) override
virtual bool	setRefAccelerationsRaw (const int n_joint, const int joints, const double accs) override
virtual bool	getRefSpeedsRaw (const int n_joint, const int joints, double spds) override
virtual bool	getRefAccelerationsRaw (const int n_joint, const int joints, double accs) override
virtual bool	stopRaw (const int n_joint, const int *joints) override
virtual bool	getTargetPositionRaw (const int joint, double *ref) override
virtual bool	getTargetPositionsRaw (double *refs) override
virtual bool	getTargetPositionsRaw (const int n_joint, const int joints, double refs) override
virtual bool	velocityMoveRaw (const int n_joint, const int joints, const double spds) override
virtual bool	getRefVelocityRaw (const int joint, double *ref) override
virtual bool	getRefVelocitiesRaw (double *refs) override
virtual bool	getRefVelocitiesRaw (const int n_joint, const int joints, double refs) override
bool	helper_getVelPidRaw (int j, Pid *pid)
bool	helper_setVelPidRaw (int j, const Pid &pid)
virtual bool	getFirmwareVersionRaw (int axis, can_protocol_info const &icub_interface_protocol, firmware_info *info)
virtual bool	setTorqueSource (int axis, char board_id, char board_chan)
virtual bool	setPositionRaw (int j, double ref) override
virtual bool	setPositionsRaw (const int n_joint, const int joints, const double refs) override
virtual bool	setPositionsRaw (const double *refs) override
virtual bool	getRefPositionRaw (const int joint, double *ref) override
virtual bool	getRefPositionsRaw (double *refs) override
virtual bool	getRefPositionsRaw (const int n_joint, const int joints, double refs) override
virtual bool	getInteractionModeRaw (int axis, yarp::dev::InteractionModeEnum *mode) override
virtual bool	getInteractionModesRaw (int n_joints, int joints, yarp::dev::InteractionModeEnum modes) override
virtual bool	getInteractionModesRaw (yarp::dev::InteractionModeEnum *modes) override
virtual bool	setInteractionModeRaw (int axis, yarp::dev::InteractionModeEnum mode) override
virtual bool	setInteractionModesRaw (int n_joints, int joints, yarp::dev::InteractionModeEnum modes) override
virtual bool	setInteractionModesRaw (yarp::dev::InteractionModeEnum *modes) override
virtual bool	setRefDutyCycleRaw (int j, double v) override
virtual bool	setRefDutyCyclesRaw (const double *v) override
virtual bool	getRefDutyCycleRaw (int j, double *v) override
virtual bool	getRefDutyCyclesRaw (double *v) override
virtual bool	getDutyCycleRaw (int j, double *v) override
virtual bool	getDutyCyclesRaw (double *v) override
virtual bool	getCurrentRangeRaw (int j, double min, double max) override
virtual bool	getCurrentRangesRaw (double min, double max) override
virtual bool	setRefCurrentsRaw (const double *t) override
virtual bool	setRefCurrentRaw (int j, double t) override
virtual bool	setRefCurrentsRaw (const int n_joint, const int joints, const double t) override
virtual bool	getRefCurrentsRaw (double *t) override
virtual bool	getRefCurrentRaw (int j, double *t) override
bool	helper_setCurPidRaw (int j, const Pid &pid)
bool	helper_getCurPidRaw (int j, Pid *pid)
Public Member Functions inherited from yarp::dev::IFactoryInterface
virtual	~IFactoryInterface ()

Protected Types
enum	{ MAX_SHORT = 32767 , MIN_SHORT = -32768 , MAX_INT = 0x7fffffff , MIN_INT = 0x80000000 }
	time stamp for last received position move command More...
enum	{ CAN_SKIP_ADDR = 0x80 }

Protected Member Functions
bool	setBCastMessages (int axis, unsigned int v)
	sets the broadcast policy for a given board (don't need to be called twice).
bool	ENABLED (int axis)
	helper function to check whether the enabled flag is on or off.
virtual void	run (void)
virtual bool	threadInit ()
virtual void	threadRelease ()
bool	_writeWord16 (int msg, int axis, short s)
	to send a Word16.
bool	_writeWord16Ex (int msg, int axis, short s1, short s2, bool check=true)
	two shorts in a single Can message (both must belong to the same control card).
bool	_readWord16 (int msg, int axis, short &value)
bool	_readWord16Ex (int msg, int axis, short &value1, short &value2)
bool	_readWord16Array (int msg, double *out)
	reads an array.
bool	_readDWord (int msg, int axis, int &value)
	READ functions sends a message and gets a dword back.
bool	_readDWordArray (int msg, double *out)
	reads an array of double words.
bool	_writeDWord (int msg, int axis, int value)
	write a DWord
bool	_writeNone (int msg, int axis)
	WRITE functions sends a message without parameters.
bool	_writeByte8 (int msg, int axis, int value)
	write a byte
bool	_readByte8 (int msg, int axis, int &value)
bool	_writeByteWords16 (int msg, int axis, unsigned char value, short s1, short s2, short s3)
icubCanProto_controlmode_t	from_modevocab_to_modeint (int modevocab)
int	from_modeint_to_modevocab (unsigned char modeint)
unsigned char	from_interactionvocab_to_interactionint (int interactionvocab)
int	from_interactionint_to_interactionvocab (unsigned char interactionint)
short	S_16 (double x) const
int	S_32 (double x) const

Protected Attributes
void *	system_resources
std::recursive_mutex	_mutex
ICanBus *	canController
bool	_writerequested
bool	_noreply
bool	_opened
ThreadPool2 *	threadPool
int	_filter
	filter for recurrent messages.
axisTorqueHelper *	_axisTorqueHelper
axisImpedanceHelper *	_axisImpedanceHelper
firmwareVersionHelper *	_firmwareVersionHelper
speedEstimationHelper *	_speedEstimationHelper
axisPositionDirectHelper *	_axisPositionDirectHelper
double *	_ref_speeds
double *	_ref_command_speeds
double *	_ref_accs
double *	_ref_torques
double *	_ref_command_positions
double *	_ref_positions
double *	_max_vel_jnt_cmd
bool	_MCtorqueControlEnabled
double *	_last_position_move_time

Detailed Description

canbusmotioncontrol : driver for motor control boards on a CAN bus.

This device contains code which handles communication to the motor control boards on a CAN bus. It converts requests from function calls into CAN bus messages for the motor control boards. A thread monitors the bus for incoming messages and dispatches replies to calling threads.

Communication with the CAN bus is done through the standard YARP ICanBus interface.

YARP device name
canbusmotioncontrol

Definition at line 654 of file CanBusMotionControl.h.

Member Enumeration Documentation

◆ anonymous enum

anonymous enum

protected

time stamp for last received position move command

Enumerator
MAX_SHORT
MIN_SHORT
MAX_INT
MIN_INT

Definition at line 1180 of file CanBusMotionControl.h.

◆ anonymous enum

anonymous enum

protected

Enumerator
CAN_SKIP_ADDR

Definition at line 1181 of file CanBusMotionControl.h.

Constructor & Destructor Documentation

◆ CanBusMotionControl()

CanBusMotionControl::CanBusMotionControl ( )

Default constructor.

Construction is done in two stages, first build the object and then open the device driver.

Definition at line 2391 of file CanBusMotionControl.cpp.

◆ ~CanBusMotionControl()

CanBusMotionControl::~CanBusMotionControl ( )

virtual

Destructor.

Definition at line 2431 of file CanBusMotionControl.cpp.

Member Function Documentation

◆ _readByte8()

bool CanBusMotionControl::_readByte8	(	int	msg,
		int	axis,
		int &	value )

protected

Definition at line 7106 of file CanBusMotionControl.cpp.

◆ _readDWord()

bool CanBusMotionControl::_readDWord	(	int	msg,
		int	axis,
		int &	value )

protected

READ functions sends a message and gets a dword back.

Definition at line 6936 of file CanBusMotionControl.cpp.

◆ _readDWordArray()

bool CanBusMotionControl::_readDWordArray	(	int	msg,
		double *	out )

protected

reads an array of double words.

Definition at line 6986 of file CanBusMotionControl.cpp.

◆ _readWord16()

bool CanBusMotionControl::_readWord16	(	int	msg,
		int	axis,
		short &	value )

protected

Definition at line 7054 of file CanBusMotionControl.cpp.

◆ _readWord16Array()

bool CanBusMotionControl::_readWord16Array	(	int	msg,
		double *	out )

protected

reads an array.

Definition at line 7216 of file CanBusMotionControl.cpp.

◆ _readWord16Ex()

bool CanBusMotionControl::_readWord16Ex	(	int	msg,
		int	axis,
		short &	value1,
		short &	value2 )

protected

Definition at line 7158 of file CanBusMotionControl.cpp.

◆ _writeByte8()

bool CanBusMotionControl::_writeByte8	(	int	msg,
		int	axis,
		int	value )

protected

write a byte

Definition at line 6816 of file CanBusMotionControl.cpp.

◆ _writeByteWords16()

bool CanBusMotionControl::_writeByteWords16	(	int	msg,
		int	axis,
		unsigned char	value,
		short	s1,
		short	s2,
		short	s3 )

protected

prepare Can message.

Definition at line 6894 of file CanBusMotionControl.cpp.

◆ _writeDWord()

bool CanBusMotionControl::_writeDWord	(	int	msg,
		int	axis,
		int	value )

protected

write a DWord

Definition at line 6840 of file CanBusMotionControl.cpp.

◆ _writeNone()

bool CanBusMotionControl::_writeNone	(	int	msg,
		int	axis )

protected

WRITE functions sends a message without parameters.

Definition at line 6768 of file CanBusMotionControl.cpp.

◆ _writeWord16()

bool CanBusMotionControl::_writeWord16	(	int	msg,
		int	axis,
		short	s )

protected

to send a Word16.

prepare Can message.

Definition at line 6792 of file CanBusMotionControl.cpp.

◆ _writeWord16Ex()

bool CanBusMotionControl::_writeWord16Ex	(	int	msg,
		int	axis,
		short	s1,
		short	s2,
		bool	check = true )

protected

two shorts in a single Can message (both must belong to the same control card).

prepare Can message.

axis is even.

Definition at line 6864 of file CanBusMotionControl.cpp.

◆ calibrateAxisWithParamsRaw()

bool CanBusMotionControl::calibrateAxisWithParamsRaw	(	int	axis,
		unsigned int	type,
		double	p1,
		double	p2,
		double	p3 )

overridevirtual

Definition at line 5608 of file CanBusMotionControl.cpp.

◆ calibrationDoneRaw()

bool CanBusMotionControl::calibrationDoneRaw ( int j )

overridevirtual

Definition at line 6424 of file CanBusMotionControl.cpp.

◆ checkMotionDoneRaw() [1/3]

bool CanBusMotionControl::checkMotionDoneRaw ( bool * flag )

overridevirtual

ret is a pointer to a bool

Definition at line 5542 of file CanBusMotionControl.cpp.

◆ checkMotionDoneRaw() [2/3]

bool CanBusMotionControl::checkMotionDoneRaw	(	const int	n_joint,
		const int *	joints,
		bool *	flags )

overridevirtual

Definition at line 6531 of file CanBusMotionControl.cpp.

◆ checkMotionDoneRaw() [3/3]

bool CanBusMotionControl::checkMotionDoneRaw	(	int	j,
		bool *	flag )

overridevirtual

check motion done, single axis.

Definition at line 5523 of file CanBusMotionControl.cpp.

◆ close()

bool CanBusMotionControl::close ( void )

virtual

Closes the device driver.

Returns: true on success.

default initialization for this device driver.

stops the thread first (joins too).

Definition at line 2972 of file CanBusMotionControl.cpp.

◆ createDevice()

yarp::dev::DeviceDriver * CanBusMotionControl::createDevice ( yarp::os::Searchable & config )

virtual

Implements yarp::dev::IFactoryInterface.

Definition at line 7282 of file CanBusMotionControl.cpp.

◆ disableAmpRaw()

bool CanBusMotionControl::disableAmpRaw ( int j )

overridevirtual

Definition at line 6263 of file CanBusMotionControl.cpp.

◆ disablePidRaw()

bool CanBusMotionControl::disablePidRaw	(	const PidControlTypeEnum &	pidtype,
		int	j )

overridevirtual

Definition at line 5448 of file CanBusMotionControl.cpp.

◆ enableAmpRaw()

bool CanBusMotionControl::enableAmpRaw ( int j )

overridevirtual

Definition at line 6268 of file CanBusMotionControl.cpp.

◆ ENABLED()

bool CanBusMotionControl::ENABLED ( int axis )

inlineprotected

helper function to check whether the enabled flag is on or off.

Parameters

axis	is the axis to check for.

Returns: true if the axis is enabled and processing of the message can in fact continue.

Definition at line 6760 of file CanBusMotionControl.cpp.

◆ enablePidRaw()

bool CanBusMotionControl::enablePidRaw	(	const PidControlTypeEnum &	pidtype,
		int	j )

overridevirtual

Definition at line 5359 of file CanBusMotionControl.cpp.

◆ from_interactionint_to_interactionvocab()

int CanBusMotionControl::from_interactionint_to_interactionvocab ( unsigned char interactionint )

inlineprotected

Definition at line 3888 of file CanBusMotionControl.cpp.

◆ from_interactionvocab_to_interactionint()

unsigned char CanBusMotionControl::from_interactionvocab_to_interactionint ( int interactionvocab )

inlineprotected

Definition at line 3871 of file CanBusMotionControl.cpp.

◆ from_modeint_to_modevocab()

int CanBusMotionControl::from_modeint_to_modevocab ( unsigned char modeint )

inlineprotected

Definition at line 3953 of file CanBusMotionControl.cpp.

◆ from_modevocab_to_modeint()

icubCanProto_controlmode_t CanBusMotionControl::from_modevocab_to_modeint ( int modevocab )

inlineprotected

Definition at line 3906 of file CanBusMotionControl.cpp.

◆ getAmpStatusRaw() [1/2]

bool CanBusMotionControl::getAmpStatusRaw ( int * st )

overridevirtual

Definition at line 6450 of file CanBusMotionControl.cpp.

◆ getAmpStatusRaw() [2/2]

bool CanBusMotionControl::getAmpStatusRaw	(	int	j,
		int *	st )

overridevirtual

Definition at line 6467 of file CanBusMotionControl.cpp.

◆ getAxes()

bool CanBusMotionControl::getAxes ( int * ax )

overridevirtual

POSITION CONTROL INTERFACE RAW.

Definition at line 4270 of file CanBusMotionControl.cpp.

◆ getAxisNameRaw()

bool CanBusMotionControl::getAxisNameRaw	(	int	axis,
		std::string &	name )

overridevirtual

IAxisInfo.

Definition at line 4198 of file CanBusMotionControl.cpp.

◆ getControlModeRaw()

bool CanBusMotionControl::getControlModeRaw	(	int	j,
		int *	v )

overridevirtual

Definition at line 4019 of file CanBusMotionControl.cpp.

◆ getControlModesRaw() [1/2]

bool CanBusMotionControl::getControlModesRaw	(	const int	n_joint,
		const int *	joints,
		int *	modes )

overridevirtual

Definition at line 4041 of file CanBusMotionControl.cpp.

◆ getControlModesRaw() [2/2]

bool CanBusMotionControl::getControlModesRaw ( int * v )

overridevirtual

Definition at line 3833 of file CanBusMotionControl.cpp.

◆ getCurrentImpedanceLimitRaw()

bool CanBusMotionControl::getCurrentImpedanceLimitRaw	(	int	j,
		double *	min_stiff,
		double *	max_stiff,
		double *	min_damp,
		double *	max_damp )

overridevirtual

Definition at line 4383 of file CanBusMotionControl.cpp.

◆ getCurrentRangeRaw()

bool CanBusMotionControl::getCurrentRangeRaw	(	int	j,
		double *	min,
		double *	max )

overridevirtual

Definition at line 7520 of file CanBusMotionControl.cpp.

◆ getCurrentRangesRaw()

bool CanBusMotionControl::getCurrentRangesRaw	(	double *	min,
		double *	max )

overridevirtual

Definition at line 7525 of file CanBusMotionControl.cpp.

◆ getCurrentRaw()

bool CanBusMotionControl::getCurrentRaw	(	int	j,
		double *	val )

overridevirtual

Definition at line 6288 of file CanBusMotionControl.cpp.

◆ getCurrentsRaw()

bool CanBusMotionControl::getCurrentsRaw ( double * vals )

overridevirtual

Definition at line 6274 of file CanBusMotionControl.cpp.

◆ getDebugParameterRaw()

bool CanBusMotionControl::getDebugParameterRaw	(	int	j,
		unsigned int	index,
		double *	value )

virtual

Definition at line 5119 of file CanBusMotionControl.cpp.

◆ getDebugReferencePositionRaw()

bool CanBusMotionControl::getDebugReferencePositionRaw	(	int	j,
		double *	value )

virtual

Definition at line 5178 of file CanBusMotionControl.cpp.

◆ getDutyCycleRaw()

bool CanBusMotionControl::getDutyCycleRaw	(	int	j,
		double *	v )

overridevirtual

Definition at line 7485 of file CanBusMotionControl.cpp.

◆ getDutyCyclesRaw()

bool CanBusMotionControl::getDutyCyclesRaw ( double * v )

overridevirtual

Definition at line 7495 of file CanBusMotionControl.cpp.

◆ getEncoderAccelerationRaw()

bool CanBusMotionControl::getEncoderAccelerationRaw	(	int	j,
		double *	spds )

overridevirtual

Definition at line 6096 of file CanBusMotionControl.cpp.

◆ getEncoderAccelerationsRaw()

bool CanBusMotionControl::getEncoderAccelerationsRaw ( double * accs )

overridevirtual

Definition at line 6083 of file CanBusMotionControl.cpp.

◆ getEncoderRaw()

bool CanBusMotionControl::getEncoderRaw	(	int	j,
		double *	v )

overridevirtual

Definition at line 6048 of file CanBusMotionControl.cpp.

◆ getEncoderSpeedRaw()

bool CanBusMotionControl::getEncoderSpeedRaw	(	int	j,
		double *	sp )

overridevirtual

Definition at line 6070 of file CanBusMotionControl.cpp.

◆ getEncoderSpeedsRaw()

bool CanBusMotionControl::getEncoderSpeedsRaw ( double * spds )

overridevirtual

Definition at line 6058 of file CanBusMotionControl.cpp.

◆ getEncodersRaw()

bool CanBusMotionControl::getEncodersRaw ( double * encs )

overridevirtual

Definition at line 6022 of file CanBusMotionControl.cpp.

◆ getEncodersTimedRaw()

bool CanBusMotionControl::getEncodersTimedRaw	(	double *	v,
		double *	t )

overridevirtual

Definition at line 7314 of file CanBusMotionControl.cpp.

◆ getEncoderTimedRaw()

bool CanBusMotionControl::getEncoderTimedRaw	(	int	j,
		double *	v,
		double *	t )

overridevirtual

Definition at line 7334 of file CanBusMotionControl.cpp.

◆ getFilterTypeRaw()

bool CanBusMotionControl::getFilterTypeRaw	(	int	j,
		int *	type )

prepare Can message.

Definition at line 5835 of file CanBusMotionControl.cpp.

◆ getFirmwareVersionRaw()

bool CanBusMotionControl::getFirmwareVersionRaw	(	int	axis,
		can_protocol_info const &	icub_interface_protocol,
		firmware_info *	info )

virtual

Definition at line 5193 of file CanBusMotionControl.cpp.

◆ getImpedanceOffsetRaw()

bool CanBusMotionControl::getImpedanceOffsetRaw	(	int	j,
		double *	offs )

overridevirtual

Definition at line 4400 of file CanBusMotionControl.cpp.

◆ getImpedanceRaw()

bool CanBusMotionControl::getImpedanceRaw	(	int	j,
		double *	stiff,
		double *	damp )

overridevirtual

IMPEDANCE CONTROL INTERFACE RAW.

Definition at line 4320 of file CanBusMotionControl.cpp.

◆ getInteractionModeRaw()

bool CanBusMotionControl::getInteractionModeRaw	(	int	axis,
		yarp::dev::InteractionModeEnum *	mode )

overridevirtual

Definition at line 7347 of file CanBusMotionControl.cpp.

◆ getInteractionModesRaw() [1/2]

bool CanBusMotionControl::getInteractionModesRaw	(	int	n_joints,
		int *	joints,
		yarp::dev::InteractionModeEnum *	modes )

overridevirtual

Definition at line 7359 of file CanBusMotionControl.cpp.

◆ getInteractionModesRaw() [2/2]

bool CanBusMotionControl::getInteractionModesRaw ( yarp::dev::InteractionModeEnum * modes )

overridevirtual

Definition at line 7375 of file CanBusMotionControl.cpp.

◆ getJointTypeRaw()

bool CanBusMotionControl::getJointTypeRaw	(	int	axis,
		yarp::dev::JointTypeEnum &	type )

overridevirtual

Definition at line 4213 of file CanBusMotionControl.cpp.

◆ getLastInputStamp()

Stamp CanBusMotionControl::getLastInputStamp ( )

overridevirtual

Definition at line 6041 of file CanBusMotionControl.cpp.

◆ getLimitsRaw()

bool CanBusMotionControl::getLimitsRaw	(	int	axis,
		double *	min,
		double *	max )

overridevirtual

Definition at line 6489 of file CanBusMotionControl.cpp.

◆ getMaxCurrentRaw()

bool CanBusMotionControl::getMaxCurrentRaw	(	int	j,
		double *	val )

overridevirtual

Definition at line 6307 of file CanBusMotionControl.cpp.

◆ getMotorEncoderAccelerationRaw()

bool CanBusMotionControl::getMotorEncoderAccelerationRaw	(	int	m,
		double *	spds )

overridevirtual

Definition at line 6251 of file CanBusMotionControl.cpp.

◆ getMotorEncoderAccelerationsRaw()

bool CanBusMotionControl::getMotorEncoderAccelerationsRaw ( double * accs )

overridevirtual

Definition at line 6238 of file CanBusMotionControl.cpp.

◆ getMotorEncoderCountsPerRevolutionRaw()

bool CanBusMotionControl::getMotorEncoderCountsPerRevolutionRaw	(	int	m,
		double *	cpr )

overridevirtual

Definition at line 6191 of file CanBusMotionControl.cpp.

◆ getMotorEncoderRaw()

bool CanBusMotionControl::getMotorEncoderRaw	(	int	m,
		double *	v )

overridevirtual

Definition at line 6150 of file CanBusMotionControl.cpp.

◆ getMotorEncoderSpeedRaw()

bool CanBusMotionControl::getMotorEncoderSpeedRaw	(	int	m,
		double *	sp )

overridevirtual

Definition at line 6227 of file CanBusMotionControl.cpp.

◆ getMotorEncoderSpeedsRaw()

bool CanBusMotionControl::getMotorEncoderSpeedsRaw ( double * spds )

overridevirtual

Definition at line 6215 of file CanBusMotionControl.cpp.

◆ getMotorEncodersRaw()

bool CanBusMotionControl::getMotorEncodersRaw ( double * encs )

overridevirtual

Definition at line 6131 of file CanBusMotionControl.cpp.

◆ getMotorEncodersTimedRaw()

bool CanBusMotionControl::getMotorEncodersTimedRaw	(	double *	v,
		double *	t )

overridevirtual

Definition at line 6160 of file CanBusMotionControl.cpp.

◆ getMotorEncoderTimedRaw()

bool CanBusMotionControl::getMotorEncoderTimedRaw	(	int	m,
		double *	v,
		double *	t )

overridevirtual

Definition at line 6180 of file CanBusMotionControl.cpp.

◆ getMotorTorqueParamsRaw()

bool CanBusMotionControl::getMotorTorqueParamsRaw	(	int	j,
		MotorTorqueParameters *	params )

overridevirtual

Definition at line 5782 of file CanBusMotionControl.cpp.

◆ getNominalCurrentRaw()

bool CanBusMotionControl::getNominalCurrentRaw	(	int	m,
		double *	val )

overridevirtual

Definition at line 6359 of file CanBusMotionControl.cpp.

◆ getNumberOfMotorEncodersRaw()

bool CanBusMotionControl::getNumberOfMotorEncodersRaw ( int * num )

overridevirtual

Definition at line 6201 of file CanBusMotionControl.cpp.

◆ getNumberOfMotorsRaw()

bool CanBusMotionControl::getNumberOfMotorsRaw ( int * m )

overridevirtual

IMotor.

Definition at line 6208 of file CanBusMotionControl.cpp.

◆ getParameterRaw()

bool CanBusMotionControl::getParameterRaw	(	int	j,
		unsigned int	type,
		double *	value )

virtual

Definition at line 5062 of file CanBusMotionControl.cpp.

◆ getPeakCurrentRaw()

bool CanBusMotionControl::getPeakCurrentRaw	(	int	m,
		double *	val )

overridevirtual

Definition at line 6349 of file CanBusMotionControl.cpp.

◆ getPidErrorLimitRaw()

bool CanBusMotionControl::getPidErrorLimitRaw	(	const PidControlTypeEnum &	pidtype,
		int	j,
		double *	limit )

overridevirtual

Definition at line 5334 of file CanBusMotionControl.cpp.

◆ getPidErrorLimitsRaw()

bool CanBusMotionControl::getPidErrorLimitsRaw	(	const PidControlTypeEnum &	pidtype,
		double *	limits )

overridevirtual

Definition at line 5339 of file CanBusMotionControl.cpp.

◆ getPidErrorRaw()

bool CanBusMotionControl::getPidErrorRaw	(	const PidControlTypeEnum &	pidtype,
		int	j,
		double *	err )

overridevirtual

Definition at line 4933 of file CanBusMotionControl.cpp.

◆ getPidErrorsRaw()

bool CanBusMotionControl::getPidErrorsRaw	(	const PidControlTypeEnum &	pidtype,
		double *	errs )

overridevirtual

Definition at line 5052 of file CanBusMotionControl.cpp.

◆ getPidOutputRaw()

bool CanBusMotionControl::getPidOutputRaw	(	const PidControlTypeEnum &	pidtype,
		int	j,
		double *	out )

overridevirtual

Definition at line 5410 of file CanBusMotionControl.cpp.

◆ getPidOutputsRaw()

bool CanBusMotionControl::getPidOutputsRaw	(	const PidControlTypeEnum &	pidtype,
		double *	outs )

overridevirtual

Definition at line 5438 of file CanBusMotionControl.cpp.

◆ getPidRaw()

bool CanBusMotionControl::getPidRaw	(	const PidControlTypeEnum &	pidtype,
		int	j,
		Pid *	pid )

overridevirtual

Definition at line 4561 of file CanBusMotionControl.cpp.

◆ getPidReferenceRaw()

bool CanBusMotionControl::getPidReferenceRaw	(	const PidControlTypeEnum &	pidtype,
		int	j,
		double *	ref )

overridevirtual

Definition at line 5274 of file CanBusMotionControl.cpp.

◆ getPidReferencesRaw()

bool CanBusMotionControl::getPidReferencesRaw	(	const PidControlTypeEnum &	pidtype,
		double *	refs )

overridevirtual

Definition at line 5321 of file CanBusMotionControl.cpp.

◆ getPidsRaw()

bool CanBusMotionControl::getPidsRaw	(	const PidControlTypeEnum &	pidtype,
		Pid *	pids )

overridevirtual

Definition at line 4588 of file CanBusMotionControl.cpp.

◆ getPowerSupplyVoltageRaw()

bool CanBusMotionControl::getPowerSupplyVoltageRaw	(	int	j,
		double *	val )

overridevirtual

Definition at line 6393 of file CanBusMotionControl.cpp.

◆ getPWMLimitRaw()

bool CanBusMotionControl::getPWMLimitRaw	(	int	j,
		double *	val )

overridevirtual

Definition at line 6374 of file CanBusMotionControl.cpp.

◆ getPWMRaw()

bool CanBusMotionControl::getPWMRaw	(	int	j,
		double *	val )

overridevirtual

Definition at line 6369 of file CanBusMotionControl.cpp.

◆ getRefAccelerationRaw()

bool CanBusMotionControl::getRefAccelerationRaw	(	int	j,
		double *	acc )

overridevirtual

cmd is an array of double (LATER: to be optimized).

Definition at line 5726 of file CanBusMotionControl.cpp.

◆ getRefAccelerationsRaw() [1/2]

bool CanBusMotionControl::getRefAccelerationsRaw	(	const int	n_joint,
		const int *	joints,
		double *	accs )

overridevirtual

Definition at line 6575 of file CanBusMotionControl.cpp.

◆ getRefAccelerationsRaw() [2/2]

bool CanBusMotionControl::getRefAccelerationsRaw ( double * accs )

overridevirtual

cmd is an array of double (LATER: to be optimized).

Definition at line 5705 of file CanBusMotionControl.cpp.

◆ getRefCurrentRaw()

bool CanBusMotionControl::getRefCurrentRaw	(	int	j,
		double *	t )

overridevirtual

Definition at line 7550 of file CanBusMotionControl.cpp.

◆ getRefCurrentsRaw()

bool CanBusMotionControl::getRefCurrentsRaw ( double * t )

overridevirtual

Definition at line 7545 of file CanBusMotionControl.cpp.

◆ getRefDutyCycleRaw()

bool CanBusMotionControl::getRefDutyCycleRaw	(	int	j,
		double *	v )

overridevirtual

Definition at line 7457 of file CanBusMotionControl.cpp.

◆ getRefDutyCyclesRaw()

bool CanBusMotionControl::getRefDutyCyclesRaw ( double * v )

overridevirtual

Definition at line 7472 of file CanBusMotionControl.cpp.

◆ getRefPositionRaw()

bool CanBusMotionControl::getRefPositionRaw	(	const int	joint,
		double *	ref )

overridevirtual

Definition at line 5022 of file CanBusMotionControl.cpp.

◆ getRefPositionsRaw() [1/2]

bool CanBusMotionControl::getRefPositionsRaw	(	const int	n_joint,
		const int *	joints,
		double *	refs )

overridevirtual

Definition at line 5042 of file CanBusMotionControl.cpp.

◆ getRefPositionsRaw() [2/2]

bool CanBusMotionControl::getRefPositionsRaw ( double * refs )

overridevirtual

Definition at line 5031 of file CanBusMotionControl.cpp.

◆ getRefSpeedRaw()

bool CanBusMotionControl::getRefSpeedRaw	(	int	j,
		double *	ref )

overridevirtual

Definition at line 5695 of file CanBusMotionControl.cpp.

◆ getRefSpeedsRaw() [1/2]

bool CanBusMotionControl::getRefSpeedsRaw	(	const int	n_joint,
		const int *	joints,
		double *	spds )

overridevirtual

Definition at line 6565 of file CanBusMotionControl.cpp.

◆ getRefSpeedsRaw() [2/2]

bool CanBusMotionControl::getRefSpeedsRaw ( double * spds )

overridevirtual

cmd is an array of double (LATER: to be optimized).

Definition at line 5683 of file CanBusMotionControl.cpp.

◆ getRefTorqueRaw()

bool CanBusMotionControl::getRefTorqueRaw	(	int	j,
		double *	ref_trq )

overridevirtual

TORQUE CONTROL INTERFACE RAW.

cmd is an array of double (LATER: to be optimized).

Definition at line 5764 of file CanBusMotionControl.cpp.

◆ getRefTorquesRaw()

bool CanBusMotionControl::getRefTorquesRaw ( double * ref_trqs )

overridevirtual

cmd is an array of double (LATER: to be optimized).

Definition at line 5745 of file CanBusMotionControl.cpp.

◆ getRefVelocitiesRaw() [1/2]

bool CanBusMotionControl::getRefVelocitiesRaw	(	const int	n_joint,
		const int *	joints,
		double *	refs )

overridevirtual

Definition at line 5012 of file CanBusMotionControl.cpp.

◆ getRefVelocitiesRaw() [2/2]

bool CanBusMotionControl::getRefVelocitiesRaw ( double * refs )

overridevirtual

Definition at line 5001 of file CanBusMotionControl.cpp.

◆ getRefVelocityRaw()

bool CanBusMotionControl::getRefVelocityRaw	(	const int	joint,
		double *	ref )

overridevirtual

Definition at line 4991 of file CanBusMotionControl.cpp.

◆ getRemoteVariableRaw()

bool CanBusMotionControl::getRemoteVariableRaw	(	std::string	key,
		yarp::os::Bottle &	val )

overridevirtual

Definition at line 4146 of file CanBusMotionControl.cpp.

◆ getRemoteVariablesListRaw()

bool CanBusMotionControl::getRemoteVariablesListRaw ( yarp::os::Bottle * listOfKeys )

overridevirtual

Definition at line 4138 of file CanBusMotionControl.cpp.

◆ getTargetPositionRaw()

bool CanBusMotionControl::getTargetPositionRaw	(	const int	joint,
		double *	ref )

overridevirtual

Definition at line 4960 of file CanBusMotionControl.cpp.

◆ getTargetPositionsRaw() [1/2]

bool CanBusMotionControl::getTargetPositionsRaw	(	const int	n_joint,
		const int *	joints,
		double *	refs )

overridevirtual

Definition at line 4981 of file CanBusMotionControl.cpp.

◆ getTargetPositionsRaw() [2/2]

bool CanBusMotionControl::getTargetPositionsRaw ( double * refs )

overridevirtual

Definition at line 4970 of file CanBusMotionControl.cpp.

◆ getTemperatureLimitRaw()

bool CanBusMotionControl::getTemperatureLimitRaw	(	int	m,
		double *	temp )

overridevirtual

Definition at line 6339 of file CanBusMotionControl.cpp.

◆ getTemperatureRaw()

bool CanBusMotionControl::getTemperatureRaw	(	int	m,
		double *	val )

overridevirtual

Definition at line 6329 of file CanBusMotionControl.cpp.

◆ getTemperaturesRaw()

bool CanBusMotionControl::getTemperaturesRaw ( double * vals )

overridevirtual

Definition at line 6334 of file CanBusMotionControl.cpp.

◆ getTorqueRangeRaw()

bool CanBusMotionControl::getTorqueRangeRaw	(	int	j,
		double *	min,
		double *	max )

overridevirtual

Definition at line 4890 of file CanBusMotionControl.cpp.

◆ getTorqueRangesRaw()

bool CanBusMotionControl::getTorqueRangesRaw	(	double *	min,
		double *	max )

overridevirtual

Definition at line 4928 of file CanBusMotionControl.cpp.

◆ getTorqueRaw()

bool CanBusMotionControl::getTorqueRaw	(	int	j,
		double *	trq )

overridevirtual

cmd is a SingleAxis pointer with 1 double arg

Definition at line 4849 of file CanBusMotionControl.cpp.

◆ getTorquesRaw()

bool CanBusMotionControl::getTorquesRaw ( double * trqs )

overridevirtual

cmd is an array of double (LATER: to be optimized).

Definition at line 4879 of file CanBusMotionControl.cpp.

◆ getVelLimitsRaw()

bool CanBusMotionControl::getVelLimitsRaw	(	int	axis,
		double *	min,
		double *	max )

overridevirtual

Definition at line 6646 of file CanBusMotionControl.cpp.

◆ helper_getCurPidRaw()

bool CanBusMotionControl::helper_getCurPidRaw	(	int	j,
		Pid *	pid )

Definition at line 6616 of file CanBusMotionControl.cpp.

◆ helper_getPosPidRaw()

bool CanBusMotionControl::helper_getPosPidRaw	(	int	j,
		Pid *	pid )

Definition at line 4531 of file CanBusMotionControl.cpp.

◆ helper_getTrqPidRaw()

bool CanBusMotionControl::helper_getTrqPidRaw	(	int	j,
		Pid *	pid )

Definition at line 4646 of file CanBusMotionControl.cpp.

◆ helper_getVelPidRaw()

bool CanBusMotionControl::helper_getVelPidRaw	(	int	j,
		Pid *	pid )

Definition at line 6627 of file CanBusMotionControl.cpp.

◆ helper_setCurPidRaw()

bool CanBusMotionControl::helper_setCurPidRaw	(	int	j,
		const Pid &	pid )

Definition at line 6611 of file CanBusMotionControl.cpp.

◆ helper_setPosPidRaw()

bool CanBusMotionControl::helper_setPosPidRaw	(	int	j,
		const Pid &	pid )

Definition at line 4278 of file CanBusMotionControl.cpp.

◆ helper_setTrqPidRaw()

bool CanBusMotionControl::helper_setTrqPidRaw	(	int	j,
		const Pid &	pid )

prepare Can message.

Definition at line 4601 of file CanBusMotionControl.cpp.

◆ helper_setVelPidRaw()

bool CanBusMotionControl::helper_setVelPidRaw	(	int	j,
		const Pid &	pid )

Definition at line 6622 of file CanBusMotionControl.cpp.

◆ isPidEnabledRaw()

bool CanBusMotionControl::isPidEnabledRaw	(	const PidControlTypeEnum &	pidtype,
		int	j,
		bool *	enabled )

virtual

Definition at line 6711 of file CanBusMotionControl.cpp.

◆ loadBootMemory()

bool CanBusMotionControl::loadBootMemory ( )

virtual

Definition at line 6716 of file CanBusMotionControl.cpp.

◆ open() [1/2]

bool yarp::dev::CanBusMotionControl::open ( const CanBusMotionControlParameters & par )

Open the device driver.

Parameters

par	is the parameter structure

Returns: true/false on success/failure.

◆ open() [2/2]

virtual bool yarp::dev::CanBusMotionControl::open ( yarp::os::Searchable & config )

virtual

Open the device driver and start communication with the hardware.

Parameters

config is a Searchable object containing the list of parameters.

Returns: true on success/failure.

◆ positionMoveRaw() [1/3]

bool CanBusMotionControl::positionMoveRaw ( const double * refs )

overridevirtual

Definition at line 5498 of file CanBusMotionControl.cpp.

◆ positionMoveRaw() [2/3]

bool CanBusMotionControl::positionMoveRaw	(	const int	n_joint,
		const int *	joints,
		const double *	refs )

overridevirtual

Definition at line 6511 of file CanBusMotionControl.cpp.

◆ positionMoveRaw() [3/3]

bool CanBusMotionControl::positionMoveRaw	(	int	j,
		double	ref )

overridevirtual

prepare can message.

pos

speed

Definition at line 5453 of file CanBusMotionControl.cpp.

◆ relativeMoveRaw() [1/3]

bool CanBusMotionControl::relativeMoveRaw ( const double * deltas )

overridevirtual

Definition at line 5517 of file CanBusMotionControl.cpp.

◆ relativeMoveRaw() [2/3]

bool CanBusMotionControl::relativeMoveRaw	(	const int	n_joint,
		const int *	joints,
		const double *	deltas )

overridevirtual

Definition at line 6521 of file CanBusMotionControl.cpp.

◆ relativeMoveRaw() [3/3]

bool CanBusMotionControl::relativeMoveRaw	(	int	j,
		double	delta )

overridevirtual

Definition at line 5512 of file CanBusMotionControl.cpp.

◆ resetEncoderRaw()

bool CanBusMotionControl::resetEncoderRaw ( int j )

overridevirtual

Definition at line 6001 of file CanBusMotionControl.cpp.

◆ resetEncodersRaw()

bool CanBusMotionControl::resetEncodersRaw ( )

overridevirtual

Definition at line 6006 of file CanBusMotionControl.cpp.

◆ resetMotorEncoderRaw()

bool CanBusMotionControl::resetMotorEncoderRaw ( int m )

overridevirtual

Definition at line 6121 of file CanBusMotionControl.cpp.

◆ resetMotorEncodersRaw()

bool CanBusMotionControl::resetMotorEncodersRaw ( )

overridevirtual

Definition at line 6126 of file CanBusMotionControl.cpp.

◆ resetPidRaw()

bool CanBusMotionControl::resetPidRaw	(	const PidControlTypeEnum &	pidtype,
		int	j )

overridevirtual

Definition at line 5354 of file CanBusMotionControl.cpp.

◆ run()

void CanBusMotionControl::run ( void )

protectedvirtual

reports board errors

class 0 msg.

legitimate message directed here, checks whether replies to any message.

Definition at line 3475 of file CanBusMotionControl.cpp.

◆ S_16()

short yarp::dev::CanBusMotionControl::S_16 ( double x ) const

inlineprotected

Definition at line 1183 of file CanBusMotionControl.h.

◆ S_32()

int yarp::dev::CanBusMotionControl::S_32 ( double x ) const

inlineprotected

Definition at line 1197 of file CanBusMotionControl.h.

◆ saveBootMemory()

bool CanBusMotionControl::saveBootMemory ( )

virtual

Definition at line 6731 of file CanBusMotionControl.cpp.

◆ setBCastMessages()

bool CanBusMotionControl::setBCastMessages	(	int	axis,
		unsigned int	v )

protected

sets the broadcast policy for a given board (don't need to be called twice).

the parameter is a 32-bit integer: bit X = 1 -> message X = active e.g. 0x02 activates the broadcast of position information 0x04 activates the broadcast of velocity ...

Definition at line 6751 of file CanBusMotionControl.cpp.

◆ setCalibrationParametersRaw()

bool CanBusMotionControl::setCalibrationParametersRaw	(	int	j,
		const CalibrationParameters &	params )

overridevirtual

Definition at line 5614 of file CanBusMotionControl.cpp.

◆ setControlModeRaw()

bool CanBusMotionControl::setControlModeRaw	(	const int	j,
		const int	mode )

overridevirtual

Definition at line 4057 of file CanBusMotionControl.cpp.

◆ setControlModesRaw() [1/2]

bool CanBusMotionControl::setControlModesRaw	(	const int	n_joint,
		const int *	joints,
		int *	modes )

overridevirtual

Definition at line 4098 of file CanBusMotionControl.cpp.

◆ setControlModesRaw() [2/2]

bool CanBusMotionControl::setControlModesRaw ( int * modes )

overridevirtual

Definition at line 4228 of file CanBusMotionControl.cpp.

◆ setDebugParameterRaw()

bool CanBusMotionControl::setDebugParameterRaw	(	int	j,
		unsigned int	index,
		double	value )

virtual

Definition at line 5382 of file CanBusMotionControl.cpp.

◆ setDebugReferencePositionRaw()

bool CanBusMotionControl::setDebugReferencePositionRaw	(	int	j,
		double	value )

virtual

Definition at line 5401 of file CanBusMotionControl.cpp.

◆ setEncoderRaw()

bool CanBusMotionControl::setEncoderRaw	(	int	j,
		double	val )

overridevirtual

Definition at line 5978 of file CanBusMotionControl.cpp.

◆ setEncodersRaw()

bool CanBusMotionControl::setEncodersRaw ( const double * vals )

overridevirtual

Definition at line 5987 of file CanBusMotionControl.cpp.

◆ setFilterTypeRaw()

bool CanBusMotionControl::setFilterTypeRaw	(	int	j,
		int	type )

prepare Can message.

Definition at line 5854 of file CanBusMotionControl.cpp.

◆ setImpedanceOffsetRaw()

bool CanBusMotionControl::setImpedanceOffsetRaw	(	int	j,
		double	offs )

overridevirtual

Definition at line 4510 of file CanBusMotionControl.cpp.

◆ setImpedanceRaw()

bool CanBusMotionControl::setImpedanceRaw	(	int	j,
		double	stiff,
		double	damp )

overridevirtual

Definition at line 4457 of file CanBusMotionControl.cpp.

◆ setInteractionModeRaw()

bool CanBusMotionControl::setInteractionModeRaw	(	int	axis,
		yarp::dev::InteractionModeEnum	mode )

overridevirtual

Definition at line 7390 of file CanBusMotionControl.cpp.

◆ setInteractionModesRaw() [1/2]

bool CanBusMotionControl::setInteractionModesRaw	(	int	n_joints,
		int *	joints,
		yarp::dev::InteractionModeEnum *	modes )

overridevirtual

Definition at line 7405 of file CanBusMotionControl.cpp.

◆ setInteractionModesRaw() [2/2]

bool CanBusMotionControl::setInteractionModesRaw ( yarp::dev::InteractionModeEnum * modes )

overridevirtual

Definition at line 7418 of file CanBusMotionControl.cpp.

◆ setLimitsRaw()

bool CanBusMotionControl::setLimitsRaw	(	int	axis,
		double	min,
		double	max )

overridevirtual

Definition at line 6476 of file CanBusMotionControl.cpp.

◆ setMaxCurrentRaw()

bool CanBusMotionControl::setMaxCurrentRaw	(	int	j,
		double	val )

overridevirtual

Definition at line 6299 of file CanBusMotionControl.cpp.

◆ setMotorEncoderCountsPerRevolutionRaw()

bool CanBusMotionControl::setMotorEncoderCountsPerRevolutionRaw	(	int	m,
		const double	cpr )

overridevirtual

Definition at line 6196 of file CanBusMotionControl.cpp.

◆ setMotorEncoderRaw()

bool CanBusMotionControl::setMotorEncoderRaw	(	int	m,
		const double	val )

overridevirtual

Definition at line 6111 of file CanBusMotionControl.cpp.

◆ setMotorEncodersRaw()

bool CanBusMotionControl::setMotorEncodersRaw ( const double * vals )

overridevirtual

Definition at line 6116 of file CanBusMotionControl.cpp.

◆ setMotorTorqueParamsRaw()

bool CanBusMotionControl::setMotorTorqueParamsRaw	(	int	j,
		const MotorTorqueParameters	params )

overridevirtual

prepare Can message.

Definition at line 5873 of file CanBusMotionControl.cpp.

◆ setNominalCurrentRaw()

bool CanBusMotionControl::setNominalCurrentRaw	(	int	m,
		const double	val )

overridevirtual

Definition at line 6364 of file CanBusMotionControl.cpp.

◆ setParameterRaw()

bool CanBusMotionControl::setParameterRaw	(	int	j,
		unsigned int	type,
		double	value )

virtual

Definition at line 5373 of file CanBusMotionControl.cpp.

◆ setPeakCurrentRaw()

bool CanBusMotionControl::setPeakCurrentRaw	(	int	m,
		const double	val )

overridevirtual

Definition at line 6354 of file CanBusMotionControl.cpp.

◆ setPidErrorLimitRaw()

bool CanBusMotionControl::setPidErrorLimitRaw	(	const PidControlTypeEnum &	pidtype,
		int	j,
		double	limit )

overridevirtual

Definition at line 5344 of file CanBusMotionControl.cpp.

◆ setPidErrorLimitsRaw()

bool CanBusMotionControl::setPidErrorLimitsRaw	(	const PidControlTypeEnum &	pidtype,
		const double *	limits )

overridevirtual

Definition at line 5349 of file CanBusMotionControl.cpp.

◆ setPidOffsetRaw()

bool CanBusMotionControl::setPidOffsetRaw	(	const PidControlTypeEnum &	pidtype,
		int	j,
		double	v )

overridevirtual

Definition at line 5364 of file CanBusMotionControl.cpp.

◆ setPidRaw()

bool CanBusMotionControl::setPidRaw	(	const PidControlTypeEnum &	pidtype,
		int	j,
		const Pid &	pid )

overridevirtual

Definition at line 4293 of file CanBusMotionControl.cpp.

◆ setPidReferenceRaw()

bool CanBusMotionControl::setPidReferenceRaw	(	const PidControlTypeEnum &	pidtype,
		int	j,
		double	ref )

overridevirtual

cmd is a SingleAxis poitner with 1 double arg

Definition at line 4806 of file CanBusMotionControl.cpp.

◆ setPidReferencesRaw()

bool CanBusMotionControl::setPidReferencesRaw	(	const PidControlTypeEnum &	pidtype,
		const double *	refs )

overridevirtual

cmd is an array of double (LATER: to be optimized).

Definition at line 4812 of file CanBusMotionControl.cpp.

◆ setPidsRaw()

bool CanBusMotionControl::setPidsRaw	(	const PidControlTypeEnum &	pidtype,
		const Pid *	pids )

overridevirtual

Definition at line 4791 of file CanBusMotionControl.cpp.

◆ setPositionRaw()

bool CanBusMotionControl::setPositionRaw	(	int	j,
		double	ref )

overridevirtual

Definition at line 6657 of file CanBusMotionControl.cpp.

◆ setPositionsRaw() [1/2]

bool CanBusMotionControl::setPositionsRaw ( const double * refs )

overridevirtual

Definition at line 6698 of file CanBusMotionControl.cpp.

◆ setPositionsRaw() [2/2]

bool CanBusMotionControl::setPositionsRaw	(	const int	n_joint,
		const int *	joints,
		const double *	refs )

overridevirtual

Definition at line 6685 of file CanBusMotionControl.cpp.

◆ setPrintFunction()

bool CanBusMotionControl::setPrintFunction ( int(* f )(const char *fmt,...) )

virtual

IControlDebug Interface.

Definition at line 6444 of file CanBusMotionControl.cpp.

◆ setPWMLimitRaw()

bool CanBusMotionControl::setPWMLimitRaw	(	int	j,
		const double	val )

overridevirtual

Definition at line 6385 of file CanBusMotionControl.cpp.

◆ setRefAccelerationRaw()

bool CanBusMotionControl::setRefAccelerationRaw	(	int	j,
		double	acc )

overridevirtual

Definition at line 5640 of file CanBusMotionControl.cpp.

◆ setRefAccelerationsRaw() [1/2]

bool CanBusMotionControl::setRefAccelerationsRaw ( const double * accs )

overridevirtual

Definition at line 5658 of file CanBusMotionControl.cpp.

◆ setRefAccelerationsRaw() [2/2]

bool CanBusMotionControl::setRefAccelerationsRaw	(	const int	n_joint,
		const int *	joints,
		const double *	accs )

overridevirtual

Definition at line 6555 of file CanBusMotionControl.cpp.

◆ setRefCurrentRaw()

bool CanBusMotionControl::setRefCurrentRaw	(	int	j,
		double	t )

overridevirtual

Definition at line 7535 of file CanBusMotionControl.cpp.

◆ setRefCurrentsRaw() [1/2]

bool CanBusMotionControl::setRefCurrentsRaw ( const double * t )

overridevirtual

Definition at line 7530 of file CanBusMotionControl.cpp.

◆ setRefCurrentsRaw() [2/2]

bool CanBusMotionControl::setRefCurrentsRaw	(	const int	n_joint,
		const int *	joints,
		const double *	t )

overridevirtual

Definition at line 7540 of file CanBusMotionControl.cpp.

◆ setRefDutyCycleRaw()

bool CanBusMotionControl::setRefDutyCycleRaw	(	int	j,
		double	v )

overridevirtual

Definition at line 7436 of file CanBusMotionControl.cpp.

◆ setRefDutyCyclesRaw()

bool CanBusMotionControl::setRefDutyCyclesRaw ( const double * v )

overridevirtual

Definition at line 7444 of file CanBusMotionControl.cpp.

◆ setRefSpeedRaw()

bool CanBusMotionControl::setRefSpeedRaw	(	int	j,
		double	sp )

overridevirtual

Definition at line 5619 of file CanBusMotionControl.cpp.

◆ setRefSpeedsRaw() [1/2]

bool CanBusMotionControl::setRefSpeedsRaw ( const double * spds )

overridevirtual

Definition at line 5629 of file CanBusMotionControl.cpp.

◆ setRefSpeedsRaw() [2/2]

bool CanBusMotionControl::setRefSpeedsRaw	(	const int	n_joint,
		const int *	joints,
		const double *	spds )

overridevirtual

Definition at line 6545 of file CanBusMotionControl.cpp.

◆ setRefTorqueRaw()

bool CanBusMotionControl::setRefTorqueRaw	(	int	j,
		double	ref_trq )

overridevirtual

cmd is a SingleAxis poitner with 1 double arg

Definition at line 4828 of file CanBusMotionControl.cpp.

◆ setRefTorquesRaw() [1/2]

bool CanBusMotionControl::setRefTorquesRaw ( const double * ref_trqs )

overridevirtual

cmd is an array of double (LATER: to be optimized).

Definition at line 4863 of file CanBusMotionControl.cpp.

◆ setRefTorquesRaw() [2/2]

bool CanBusMotionControl::setRefTorquesRaw	(	const int	n_joint,
		const int *	joints,
		const double *	t )

overridevirtual

Definition at line 4838 of file CanBusMotionControl.cpp.

◆ setRemoteVariableRaw()

bool CanBusMotionControl::setRemoteVariableRaw	(	std::string	key,
		const yarp::os::Bottle &	val )

overridevirtual

Definition at line 4164 of file CanBusMotionControl.cpp.

◆ setServerLogger()

void yarp::dev::CanBusMotionControl::setServerLogger ( const IServerLogger * server )

inlinevirtual

Implements yarp::dev::IClientLogger.

Definition at line 793 of file CanBusMotionControl.h.

◆ setSpeedEstimatorShiftRaw()

bool CanBusMotionControl::setSpeedEstimatorShiftRaw	(	int	j,
		double	jnt_speed,
		double	jnt_acc,
		double	mot_speed,
		double	mot_acc )

Definition at line 6398 of file CanBusMotionControl.cpp.

◆ setTemperatureLimitRaw()

bool CanBusMotionControl::setTemperatureLimitRaw	(	int	m,
		const double	temp )

overridevirtual

Definition at line 6344 of file CanBusMotionControl.cpp.

◆ setTorqueSource()

bool CanBusMotionControl::setTorqueSource	(	int	axis,
		char	board_id,
		char	board_chan )

virtual

Definition at line 4483 of file CanBusMotionControl.cpp.

◆ setVelLimitsRaw()

bool CanBusMotionControl::setVelLimitsRaw	(	int	axis,
		double	min,
		double	max )

overridevirtual

Definition at line 6636 of file CanBusMotionControl.cpp.

◆ setVelocityShiftRaw()

bool CanBusMotionControl::setVelocityShiftRaw	(	int	j,
		double	val )

Definition at line 6321 of file CanBusMotionControl.cpp.

◆ setVelocityTimeoutRaw()

bool CanBusMotionControl::setVelocityTimeoutRaw	(	int	j,
		double	val )

Definition at line 6416 of file CanBusMotionControl.cpp.

◆ stopRaw() [1/3]

bool CanBusMotionControl::stopRaw ( )

overridevirtual

Definition at line 5903 of file CanBusMotionControl.cpp.

◆ stopRaw() [2/3]

bool CanBusMotionControl::stopRaw	(	const int	n_joint,
		const int *	joints )

overridevirtual

Definition at line 6585 of file CanBusMotionControl.cpp.

◆ stopRaw() [3/3]

bool CanBusMotionControl::stopRaw ( int j )

overridevirtual

Definition at line 5896 of file CanBusMotionControl.cpp.

◆ threadInit()

bool CanBusMotionControl::threadInit ( )

protectedvirtual

Definition at line 3450 of file CanBusMotionControl.cpp.

◆ threadRelease()

void CanBusMotionControl::threadRelease ( )

protectedvirtual

Definition at line 3470 of file CanBusMotionControl.cpp.

◆ velocityMoveRaw() [1/3]

bool CanBusMotionControl::velocityMoveRaw ( const double * sp )

overridevirtual

cmd is an array of double of length njoints specifying speed for each axis

Definition at line 5965 of file CanBusMotionControl.cpp.

◆ velocityMoveRaw() [2/3]

bool CanBusMotionControl::velocityMoveRaw	(	const int	n_joint,
		const int *	joints,
		const double *	spds )

overridevirtual

Definition at line 6601 of file CanBusMotionControl.cpp.

◆ velocityMoveRaw() [3/3]

bool CanBusMotionControl::velocityMoveRaw	(	int	j,
		double	sp )

overridevirtual

Velocity control interface raw.

cmd is an array of double of length njoints specifying speed for each axis

prepare can message.

speed

accel

Definition at line 5919 of file CanBusMotionControl.cpp.

Member Data Documentation

◆ _axisImpedanceHelper

axisImpedanceHelper* yarp::dev::CanBusMotionControl::_axisImpedanceHelper

protected

Definition at line 1158 of file CanBusMotionControl.h.

◆ _axisPositionDirectHelper

axisPositionDirectHelper* yarp::dev::CanBusMotionControl::_axisPositionDirectHelper

protected

Definition at line 1161 of file CanBusMotionControl.h.

◆ _axisTorqueHelper

axisTorqueHelper* yarp::dev::CanBusMotionControl::_axisTorqueHelper

protected

Definition at line 1157 of file CanBusMotionControl.h.

◆ _filter

int yarp::dev::CanBusMotionControl::_filter

protected

filter for recurrent messages.

Definition at line 1130 of file CanBusMotionControl.h.

◆ _firmwareVersionHelper

firmwareVersionHelper* yarp::dev::CanBusMotionControl::_firmwareVersionHelper

protected

Definition at line 1159 of file CanBusMotionControl.h.

◆ _last_position_move_time

double* yarp::dev::CanBusMotionControl::_last_position_move_time

protected

Definition at line 1178 of file CanBusMotionControl.h.

◆ _max_vel_jnt_cmd

double* yarp::dev::CanBusMotionControl::_max_vel_jnt_cmd

protected

Definition at line 1175 of file CanBusMotionControl.h.

◆ _MCtorqueControlEnabled

bool yarp::dev::CanBusMotionControl::_MCtorqueControlEnabled

protected

Definition at line 1176 of file CanBusMotionControl.h.

◆ _mutex

std::recursive_mutex yarp::dev::CanBusMotionControl::_mutex

protected

Definition at line 1119 of file CanBusMotionControl.h.

◆ _noreply

bool yarp::dev::CanBusMotionControl::_noreply

protected

Definition at line 1123 of file CanBusMotionControl.h.

◆ _opened

bool yarp::dev::CanBusMotionControl::_opened

protected

Definition at line 1124 of file CanBusMotionControl.h.

◆ _ref_accs

double* yarp::dev::CanBusMotionControl::_ref_accs

protected

Definition at line 1171 of file CanBusMotionControl.h.

◆ _ref_command_positions

double* yarp::dev::CanBusMotionControl::_ref_command_positions

protected

Definition at line 1173 of file CanBusMotionControl.h.

◆ _ref_command_speeds

double* yarp::dev::CanBusMotionControl::_ref_command_speeds

protected

Definition at line 1170 of file CanBusMotionControl.h.

◆ _ref_positions

double* yarp::dev::CanBusMotionControl::_ref_positions

protected

Definition at line 1174 of file CanBusMotionControl.h.

◆ _ref_speeds

double* yarp::dev::CanBusMotionControl::_ref_speeds

protected

Definition at line 1169 of file CanBusMotionControl.h.

◆ _ref_torques

double* yarp::dev::CanBusMotionControl::_ref_torques

protected

Definition at line 1172 of file CanBusMotionControl.h.

◆ _speedEstimationHelper

speedEstimationHelper* yarp::dev::CanBusMotionControl::_speedEstimationHelper

protected

Definition at line 1160 of file CanBusMotionControl.h.

◆ _writerequested

bool yarp::dev::CanBusMotionControl::_writerequested

protected

Definition at line 1122 of file CanBusMotionControl.h.

◆ canController

ICanBus* yarp::dev::CanBusMotionControl::canController

protected

Definition at line 1120 of file CanBusMotionControl.h.

◆ system_resources

void* yarp::dev::CanBusMotionControl::system_resources

protected

Definition at line 1118 of file CanBusMotionControl.h.

◆ threadPool

ThreadPool2* yarp::dev::CanBusMotionControl::threadPool

protected

Definition at line 1125 of file CanBusMotionControl.h.

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

icub-main/src/libraries/icubmod/canBusMotionControl/CanBusMotionControl.h
icub-main/src/libraries/icubmod/canBusMotionControl/CanBusMotionControl.cpp

Public Member Functions

Protected Types

Protected Member Functions

Protected Attributes

Detailed Description

Member Enumeration Documentation

◆ anonymous enum

◆ anonymous enum

Constructor & Destructor Documentation

◆ CanBusMotionControl()

◆ ~CanBusMotionControl()

Member Function Documentation

◆ _readByte8()

◆ _readDWord()

◆ _readDWordArray()

◆ _readWord16()

◆ _readWord16Array()

◆ _readWord16Ex()

◆ _writeByte8()

◆ _writeByteWords16()

◆ _writeDWord()

◆ _writeNone()

◆ _writeWord16()

◆ _writeWord16Ex()

◆ calibrateAxisWithParamsRaw()

◆ calibrationDoneRaw()

◆ checkMotionDoneRaw() [1/3]

◆ checkMotionDoneRaw() [2/3]

◆ checkMotionDoneRaw() [3/3]

◆ close()

◆ createDevice()

◆ disableAmpRaw()

◆ disablePidRaw()

◆ enableAmpRaw()

◆ ENABLED()

◆ enablePidRaw()

◆ from_interactionint_to_interactionvocab()

◆ from_interactionvocab_to_interactionint()

◆ from_modeint_to_modevocab()

◆ from_modevocab_to_modeint()

◆ getAmpStatusRaw() [1/2]

◆ getAmpStatusRaw() [2/2]

◆ getAxes()

◆ getAxisNameRaw()

◆ getControlModeRaw()

◆ getControlModesRaw() [1/2]

◆ getControlModesRaw() [2/2]

◆ getCurrentImpedanceLimitRaw()

◆ getCurrentRangeRaw()

◆ getCurrentRangesRaw()

◆ getCurrentRaw()

◆ getCurrentsRaw()

◆ getDebugParameterRaw()

◆ getDebugReferencePositionRaw()

◆ getDutyCycleRaw()

◆ getDutyCyclesRaw()

◆ getEncoderAccelerationRaw()

◆ getEncoderAccelerationsRaw()

◆ getEncoderRaw()

◆ getEncoderSpeedRaw()

◆ getEncoderSpeedsRaw()

◆ getEncodersRaw()

◆ getEncodersTimedRaw()

◆ getEncoderTimedRaw()

◆ getFilterTypeRaw()

◆ getFirmwareVersionRaw()

◆ getImpedanceOffsetRaw()

◆ getImpedanceRaw()

◆ getInteractionModeRaw()

◆ getInteractionModesRaw() [1/2]

◆ getInteractionModesRaw() [2/2]

◆ getJointTypeRaw()

◆ getLastInputStamp()

◆ getLimitsRaw()

◆ getMaxCurrentRaw()

◆ getMotorEncoderAccelerationRaw()

◆ getMotorEncoderAccelerationsRaw()

◆ getMotorEncoderCountsPerRevolutionRaw()

◆ getMotorEncoderRaw()

◆ getMotorEncoderSpeedRaw()