ros2_canopen::Motor402 Class Reference

#include <motor.hpp>

Inheritance diagram for ros2_canopen::Motor402:

Collaboration diagram for ros2_canopen::Motor402:

Public Member Functions
	Motor402 (std::shared_ptr< LelyDriverBridge > driver, ros2_canopen::State402::InternalState switching_state, int homing_timeout_seconds)
virtual bool	setTarget (double val)
	Set target.
virtual bool	enterModeAndWait (uint16_t mode)
	Enter Operation Mode.
virtual bool	isModeSupported (uint16_t mode)
	Check if Operation Mode is supported.
virtual uint16_t	getMode ()
	Get current Mode.
bool	readState ()
void	handleDiag ()
	Updates the device diagnostic information.
bool	handleInit ()
	Initialise the drive.
void	handleRead ()
	Read objects of the drive.
void	handleWrite ()
	Writes objects to the drive.
bool	handleShutdown ()
	Shutdowns the drive.
bool	handleHalt ()
	Executes a quickstop.
bool	handleRecover ()
	Recovers the device from fault.
bool	handleEnable ()
	Enable the drive.
bool	handleDisable ()
	Disable the drive.
template<typename T , typename... Args>
bool	registerMode (uint16_t mode, Args &&... args)
	Register a new operation mode for the drive.
virtual void	registerDefaultModes ()
	Tries to register the standard operation modes defined in cia402.
double	get_speed () const
double	get_position () const
void	set_diagnostic_status_msgs (std::shared_ptr< DiagnosticsCollector > status, bool enable)

Additional Inherited Members
Public Types inherited from ros2_canopen::MotorBase
enum	OperationMode {   No_Mode = 0 , Profiled_Position = 1 , Velocity = 2 , Profiled_Velocity = 3 ,   Profiled_Torque = 4 , Reserved = 5 , Homing = 6 , Interpolated_Position = 7 ,   Cyclic_Synchronous_Position = 8 , Cyclic_Synchronous_Velocity = 9 , Cyclic_Synchronous_Torque = 10 }
typedef std::shared_ptr< MotorBase >	MotorBaseSharedPtr
Protected Member Functions inherited from ros2_canopen::MotorBase
	MotorBase ()

Constructor & Destructor Documentation

Motor402()

ros2_canopen::Motor402::Motor402 ( std::shared_ptr< LelyDriverBridge >  driver, ros2_canopen::State402::InternalState  switching_state, int  homing_timeout_seconds  )

inline

Member Function Documentation

setTarget()

virtual bool ros2_canopen::Motor402::setTarget ( double  val )

virtual

Set target.

Parameters

[in]

val

Target value

Returns

true

false

Implements ros2_canopen::MotorBase.

enterModeAndWait()

virtual bool ros2_canopen::Motor402::enterModeAndWait ( uint16_t  mode )

virtual

Enter Operation Mode.

Parameters

[in]

mode

Target Mode

Returns

true

false

Implements ros2_canopen::MotorBase.

isModeSupported()

virtual bool ros2_canopen::Motor402::isModeSupported ( uint16_t  mode )

virtual

Check if Operation Mode is supported.

Parameters

[in]

mode

Operation Mode to be checked

Returns

true

false

Implements ros2_canopen::MotorBase.

getMode()

virtual uint16_t ros2_canopen::Motor402::getMode ( )

virtual

Get current Mode.

Returns

uint16_t

Implements ros2_canopen::MotorBase.

readState()

bool ros2_canopen::Motor402::readState

(

)

handleDiag()

void ros2_canopen::Motor402::handleDiag

(

)

Updates the device diagnostic information.

This function updates the diagnostic information of the device by updating the diagnostic status message diagnostic_status_ and publishing it.

handleInit()

bool ros2_canopen::Motor402::handleInit

(

)

Initialise the drive.

This function initialises the drive. This means, it first attempts to bring the device to operational state (CIA402) and then executes the chosen homing method.

handleRead()

void ros2_canopen::Motor402::handleRead

(

)

Read objects of the drive.

This function should be called regularly. It reads the status word from the device and translates it into the devices state.

handleWrite()

void ros2_canopen::Motor402::handleWrite

(

)

Writes objects to the drive.

This function should be called regularly. It writes the new command word to the drive

handleShutdown()

bool ros2_canopen::Motor402::handleShutdown

(

)

Shutdowns the drive.

This function shuts down the drive by bringing it into SwitchOn disabled state.

handleHalt()

bool ros2_canopen::Motor402::handleHalt

(

)

Executes a quickstop.

The function executes a quickstop.

handleRecover()

bool ros2_canopen::Motor402::handleRecover

(

)

Recovers the device from fault.

This function tries to reset faults and put the device back to operational state.

handleEnable()

bool ros2_canopen::Motor402::handleEnable

(

)

Enable the drive.

This function enables the drive. This means it attempts to bring the device to operational state (CIA402), and does nothing else.

handleDisable()

bool ros2_canopen::Motor402::handleDisable

(

)

Disable the drive.

This function disables the drive. This means it attempts to bring the device to switched on disabled state (CIA402).

registerMode()

template<typename T , typename... Args>

bool ros2_canopen::Motor402::registerMode ( uint16_t  mode, Args &&...  args  )

inline

Register a new operation mode for the drive.

This function will register an operation mode for the drive. It will check if the mode is supported by the drive by reading 0x6508 object.

Template Parameters

T
Args

Parameters

mode
args

Returns

true

false

registerDefaultModes()

virtual void ros2_canopen::Motor402::registerDefaultModes ( )

inlinevirtual

Tries to register the standard operation modes defined in cia402.

Reimplemented from ros2_canopen::MotorBase.

get_speed()

double ros2_canopen::Motor402::get_speed ( ) const

inline

get_position()

double ros2_canopen::Motor402::get_position ( ) const

inline

set_diagnostic_status_msgs()

void ros2_canopen::Motor402::set_diagnostic_status_msgs ( std::shared_ptr< DiagnosticsCollector >  status, bool  enable  )

inline

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

• /home/runner/work/ros2_canopen/ros2_canopen/canopen_402_driver/include/canopen_402_driver/motor.hpp