Motor Temperature Detector and Publisher Version:1.0.
Collaboration diagram for MotorTemperaturePublisher:
Motor Temperature Detector and Publisher Version:1.0.
- Copyright
- Released under the terms of the GNU GPL v2.0
Description
This module is a working example for building a YARP device that exploits the iMotor YARP interfaces to interact with the motion control module. Specifically to this example, we are defining a PolyDriver device that interacts with the pointer to the iMotor yarp interface and prints the motor temperatures to an output port. Those temperatures values can be obtained exploiting the interface method getTemperatures() and saved to a c-array of doubles.
In order to use this module, whose final target is to print at the port called /portprefix/motor_temperatures:o the temperatures of the motors connected, the following steps should be done:
- supposed to have the correct setup running on the yarpserver sending data to state ports
- MotorTemperaturePublisher –from config.ini
This will instantiate the aformentioned port where the following values will be streamed at the specified period:
- timeStamp | temperature_motor_0 | boolean_limit_overcame_0 | ... | temperature_motor_N | boolean_limit_overcame_N |
Parameters
- –context: select the current context.
- –from: configuration file name.
- –name: module's name; all the open ports will be tagged with the prefix /name.
- –robotname: name of the robot to connect to.
- –portprefix: name of the part's port to connect to.
- –period: period used for streaming the data to the port.
- –listofjoints: joints, as list a list, i.e. (0 1 2), for which you want to get the temperature.
Input Ports
Output Ports
- /ergocub/subpart/motor_temperature:o [yarp::os::Bottle] [default carrier:tcp]: show the temperature of the motors of the subpart
