The PlxCan motion controller device driver. More...

#include <CanBusMotionControl.h>

Classes
struct	DebugParameters

struct	ImpedanceParameters

Public Types
enum	torqueControlUnitsType { MACHINE_UNITS =0 , METRIC_UNITS =1 }

Public Member Functions
	CanBusMotionControlParameters ()
	Constructor (please make sure you use the constructor to allocate memory).

	~CanBusMotionControlParameters ()
	Destructor, with memory deallocation.

bool	parsePosPidsGroup_OldFormat (yarp::os::Bottle &pidsGroup, int nj, Pid myPid[])

bool	parseTrqPidsGroup_OldFormat (yarp::os::Bottle &pidsGroup, int nj, Pid myPid[])

bool	parsePidsGroup_NewFormat (yarp::os::Bottle &pidsGroup, Pid myPid[])

bool	parseImpedanceGroup_NewFormat (yarp::os::Bottle &pidsGroup, ImpedanceParameters vals[])

bool	parseDebugGroup_NewFormat (yarp::os::Bottle &pidsGroup, DebugParameters vals[])

bool	setBroadCastMask (yarp::os::Bottle &list, int MASK)

bool	fromConfig (yarp::os::Searchable &config)

bool	alloc (int nj)

Public Attributes
int	_txQueueSize

int	_rxQueueSize

int	_txTimeout

int	_rxTimeout

int *	_broadcast_mask

int	_networkN

std::string	_networkName
	network number

int	_njoints
	network name

unsigned char *	_destinations
	number of joints/axes/controlled motors

unsigned char	_my_address
	destination addresses

int	_polling_interval
	my address

int	_timeout
	thread polling interval [ms]

std::string *	_axisName
	number of cycles before timing out

std::string *	_axisType
	axis name

int *	_axisMap
	axis type

double *	_angleToEncoder
	axis remapping lookup-table

double *	_rotToEncoder
	angle to encoder conversion factors

double *	_zeros
	angle to rotor conversion factors

Pid *	_pids
	encoder zeros

Pid *	_tpids
	initial gains

bool	_pwmIsLimited
	initial torque gains

SpeedEstimationParameters *	_estim_params
	set to true if pwm is limited

DebugParameters *	_debug_params
	parameters for speed/acceleration estimation

ImpedanceParameters *	_impedance_params
	debug parameters

ImpedanceLimits *	_impedance_limits
	impedance parameters

double *	_bemfGain
	impedancel imits

double *	_ktau
	bemf compensation gain

int *	_filterType
	motor torque constant

double *	_limitsMin

double *	_limitsMax
	joint limits, max

double *	_currentLimits
	joint limits, min

double *	_motorPwmLimits
	current limits

int *	_velocityShifts
	pwm limits

int *	_velocityTimeout
	velocity shifts

double *	_maxStep
	velocity shifts

double *	_maxJntCmdVelocity
	max size of a positionDirect step

double *	_optical_factor
	max velocity command for a joint

int *	_torqueSensorId
	reduction ratio of the optical encoder on motor axis

int *	_torqueSensorChan
	Id of associated Joint Torque Sensor.

double *	_maxTorque
	Channel of associated Joint Torque Sensor.

double *	_newtonsToSensor
	Max torque of a joint.

double *	_ampsToSensor
	Newtons to force sensor units conversion factors.

double *	_dutycycleToPwm

torqueControlUnitsType	_torqueControlUnits

bool	_torqueControlEnabled

Detailed Description

The PlxCan motion controller device driver.

Contains a thread that takes care of polling the can bus for incoming messages. The open parameter class containing the initialization values.

Definition at line 98 of file CanBusMotionControl.h.

Member Enumeration Documentation

◆ torqueControlUnitsType

enum yarp::dev::CanBusMotionControlParameters::torqueControlUnitsType

Enumerator
MACHINE_UNITS
METRIC_UNITS

Definition at line 190 of file CanBusMotionControl.h.

Constructor & Destructor Documentation

◆ CanBusMotionControlParameters()

CanBusMotionControlParameters::CanBusMotionControlParameters ( )

Constructor (please make sure you use the constructor to allocate memory).

Parameters

nj	is the number of controlled joints/axes.

max len of the buffer for the esd driver

20ms timeout

Definition at line 1873 of file CanBusMotionControl.cpp.

◆ ~CanBusMotionControlParameters()

CanBusMotionControlParameters::~CanBusMotionControlParameters ( )

Destructor, with memory deallocation.

Definition at line 1986 of file CanBusMotionControl.cpp.

Member Function Documentation

◆ alloc()

bool CanBusMotionControlParameters::alloc ( int nj )

max len of the buffer for the esd driver

20ms timeout

Definition at line 1921 of file CanBusMotionControl.cpp.

◆ fromConfig()

bool CanBusMotionControlParameters::fromConfig ( yarp::os::Searchable & config )

Definition at line 1151 of file CanBusMotionControl.cpp.

◆ parseDebugGroup_NewFormat()

bool CanBusMotionControlParameters::parseDebugGroup_NewFormat	(	yarp::os::Bottle &	pidsGroup,
		DebugParameters	vals[]
	)

Definition at line 1135 of file CanBusMotionControl.cpp.

◆ parseImpedanceGroup_NewFormat()

bool CanBusMotionControlParameters::parseImpedanceGroup_NewFormat	(	yarp::os::Bottle &	pidsGroup,
		ImpedanceParameters	vals[]
	)

Definition at line 1126 of file CanBusMotionControl.cpp.

◆ parsePidsGroup_NewFormat()

bool CanBusMotionControlParameters::parsePidsGroup_NewFormat	(	yarp::os::Bottle &	pidsGroup,
		Pid	myPid[]
	)

Definition at line 1097 of file CanBusMotionControl.cpp.

◆ parsePosPidsGroup_OldFormat()

bool CanBusMotionControlParameters::parsePosPidsGroup_OldFormat	(	yarp::os::Bottle &	pidsGroup,
		int	nj,
		Pid	myPid[]
	)

Definition at line 1042 of file CanBusMotionControl.cpp.

◆ parseTrqPidsGroup_OldFormat()

bool CanBusMotionControlParameters::parseTrqPidsGroup_OldFormat	(	yarp::os::Bottle &	pidsGroup,
		int	nj,
		Pid	myPid[]
	)

Definition at line 1070 of file CanBusMotionControl.cpp.

◆ setBroadCastMask()

bool CanBusMotionControlParameters::setBroadCastMask	(	yarp::os::Bottle &	list,
		int	MASK
	)

Definition at line 1014 of file CanBusMotionControl.cpp.

Member Data Documentation

◆ _ampsToSensor

double* yarp::dev::CanBusMotionControlParameters::_ampsToSensor

Newtons to force sensor units conversion factors.

Definition at line 188 of file CanBusMotionControl.h.

◆ _angleToEncoder

double* yarp::dev::CanBusMotionControlParameters::_angleToEncoder

axis remapping lookup-table

Definition at line 162 of file CanBusMotionControl.h.

◆ _axisMap

int* yarp::dev::CanBusMotionControlParameters::_axisMap

axis type

Definition at line 161 of file CanBusMotionControl.h.

◆ _axisName

std::string* yarp::dev::CanBusMotionControlParameters::_axisName

number of cycles before timing out

Definition at line 159 of file CanBusMotionControl.h.

◆ _axisType

std::string* yarp::dev::CanBusMotionControlParameters::_axisType

axis name

Definition at line 160 of file CanBusMotionControl.h.

◆ _bemfGain

double* yarp::dev::CanBusMotionControlParameters::_bemfGain

impedancel imits

Definition at line 172 of file CanBusMotionControl.h.

◆ _broadcast_mask

int* yarp::dev::CanBusMotionControlParameters::_broadcast_mask

Definition at line 149 of file CanBusMotionControl.h.

◆ _currentLimits

double* yarp::dev::CanBusMotionControlParameters::_currentLimits

joint limits, min

Definition at line 177 of file CanBusMotionControl.h.

◆ _debug_params

DebugParameters* yarp::dev::CanBusMotionControlParameters::_debug_params

parameters for speed/acceleration estimation

Definition at line 169 of file CanBusMotionControl.h.

◆ _destinations

unsigned char* yarp::dev::CanBusMotionControlParameters::_destinations

number of joints/axes/controlled motors

Definition at line 154 of file CanBusMotionControl.h.

◆ _dutycycleToPwm

double* yarp::dev::CanBusMotionControlParameters::_dutycycleToPwm

Definition at line 189 of file CanBusMotionControl.h.

◆ _estim_params

SpeedEstimationParameters* yarp::dev::CanBusMotionControlParameters::_estim_params

set to true if pwm is limited

Definition at line 168 of file CanBusMotionControl.h.

◆ _filterType

int* yarp::dev::CanBusMotionControlParameters::_filterType

motor torque constant

Definition at line 174 of file CanBusMotionControl.h.

◆ _impedance_limits

ImpedanceLimits* yarp::dev::CanBusMotionControlParameters::_impedance_limits

impedance parameters

Definition at line 171 of file CanBusMotionControl.h.

◆ _impedance_params

ImpedanceParameters* yarp::dev::CanBusMotionControlParameters::_impedance_params

debug parameters

Definition at line 170 of file CanBusMotionControl.h.

◆ _ktau

double* yarp::dev::CanBusMotionControlParameters::_ktau

bemf compensation gain

Definition at line 173 of file CanBusMotionControl.h.

◆ _limitsMax

double* yarp::dev::CanBusMotionControlParameters::_limitsMax

joint limits, max

Definition at line 176 of file CanBusMotionControl.h.

◆ _limitsMin

double* yarp::dev::CanBusMotionControlParameters::_limitsMin

Definition at line 175 of file CanBusMotionControl.h.

◆ _maxJntCmdVelocity

double* yarp::dev::CanBusMotionControlParameters::_maxJntCmdVelocity

max size of a positionDirect step

Definition at line 182 of file CanBusMotionControl.h.

◆ _maxStep

double* yarp::dev::CanBusMotionControlParameters::_maxStep

velocity shifts

Definition at line 181 of file CanBusMotionControl.h.

◆ _maxTorque

double* yarp::dev::CanBusMotionControlParameters::_maxTorque

Channel of associated Joint Torque Sensor.

Definition at line 186 of file CanBusMotionControl.h.

◆ _motorPwmLimits

double* yarp::dev::CanBusMotionControlParameters::_motorPwmLimits

current limits

Definition at line 178 of file CanBusMotionControl.h.

◆ _my_address

unsigned char yarp::dev::CanBusMotionControlParameters::_my_address

destination addresses

Definition at line 155 of file CanBusMotionControl.h.

◆ _networkN

int yarp::dev::CanBusMotionControlParameters::_networkN

Definition at line 151 of file CanBusMotionControl.h.

◆ _networkName

std::string yarp::dev::CanBusMotionControlParameters::_networkName

network number

Definition at line 152 of file CanBusMotionControl.h.

◆ _newtonsToSensor

double* yarp::dev::CanBusMotionControlParameters::_newtonsToSensor

Max torque of a joint.

Definition at line 187 of file CanBusMotionControl.h.

◆ _njoints

int yarp::dev::CanBusMotionControlParameters::_njoints

network name

Definition at line 153 of file CanBusMotionControl.h.

◆ _optical_factor

double* yarp::dev::CanBusMotionControlParameters::_optical_factor

max velocity command for a joint

Definition at line 183 of file CanBusMotionControl.h.

◆ _pids

Pid* yarp::dev::CanBusMotionControlParameters::_pids

encoder zeros

Definition at line 165 of file CanBusMotionControl.h.

◆ _polling_interval

int yarp::dev::CanBusMotionControlParameters::_polling_interval

my address

Definition at line 156 of file CanBusMotionControl.h.

◆ _pwmIsLimited

bool yarp::dev::CanBusMotionControlParameters::_pwmIsLimited

initial torque gains

Definition at line 167 of file CanBusMotionControl.h.

◆ _rotToEncoder

double* yarp::dev::CanBusMotionControlParameters::_rotToEncoder

angle to encoder conversion factors

Definition at line 163 of file CanBusMotionControl.h.

◆ _rxQueueSize

int yarp::dev::CanBusMotionControlParameters::_rxQueueSize

Definition at line 146 of file CanBusMotionControl.h.

◆ _rxTimeout

int yarp::dev::CanBusMotionControlParameters::_rxTimeout

Definition at line 148 of file CanBusMotionControl.h.

◆ _timeout

int yarp::dev::CanBusMotionControlParameters::_timeout

thread polling interval [ms]

Definition at line 157 of file CanBusMotionControl.h.

◆ _torqueControlEnabled

bool yarp::dev::CanBusMotionControlParameters::_torqueControlEnabled

Definition at line 192 of file CanBusMotionControl.h.

◆ _torqueControlUnits

torqueControlUnitsType yarp::dev::CanBusMotionControlParameters::_torqueControlUnits

Definition at line 191 of file CanBusMotionControl.h.

◆ _torqueSensorChan

int* yarp::dev::CanBusMotionControlParameters::_torqueSensorChan

Id of associated Joint Torque Sensor.

Definition at line 185 of file CanBusMotionControl.h.

◆ _torqueSensorId

int* yarp::dev::CanBusMotionControlParameters::_torqueSensorId

reduction ratio of the optical encoder on motor axis

Definition at line 184 of file CanBusMotionControl.h.

◆ _tpids

Pid* yarp::dev::CanBusMotionControlParameters::_tpids

initial gains

Definition at line 166 of file CanBusMotionControl.h.

◆ _txQueueSize

int yarp::dev::CanBusMotionControlParameters::_txQueueSize

Definition at line 145 of file CanBusMotionControl.h.

◆ _txTimeout

int yarp::dev::CanBusMotionControlParameters::_txTimeout

Definition at line 147 of file CanBusMotionControl.h.

◆ _velocityShifts

int* yarp::dev::CanBusMotionControlParameters::_velocityShifts

pwm limits

Definition at line 179 of file CanBusMotionControl.h.

◆ _velocityTimeout

int* yarp::dev::CanBusMotionControlParameters::_velocityTimeout