ros2_canopen::MotorBase Class Reference

Motor Base Class. More...

#include <base.hpp>

Inheritance diagram for ros2_canopen::MotorBase:

Public Types
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

Public Member Functions
virtual bool	setTarget (double val)=0
	Set target.
virtual bool	enterModeAndWait (uint16_t mode)=0
	Enter Operation Mode.
virtual bool	isModeSupported (uint16_t mode)=0
	Check if Operation Mode is supported.
virtual uint16_t	getMode ()=0
	Get current Mode.
virtual void	registerDefaultModes ()
	Register default Operation Modes.

Protected Member Functions
	MotorBase ()

Detailed Description

Motor Base Class.

Member Typedef Documentation

MotorBaseSharedPtr

typedef std::shared_ptr<MotorBase> ros2_canopen::MotorBase::MotorBaseSharedPtr

Member Enumeration Documentation

OperationMode

enum ros2_canopen::MotorBase::OperationMode

Enumerator
No_Mode
Profiled_Position
Velocity
Profiled_Velocity
Profiled_Torque
Reserved
Homing
Interpolated_Position
Cyclic_Synchronous_Position
Cyclic_Synchronous_Velocity
Cyclic_Synchronous_Torque

Constructor & Destructor Documentation

MotorBase()

ros2_canopen::MotorBase::MotorBase ( )

inlineprotected

Member Function Documentation

setTarget()

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

pure virtual

Set target.

Parameters

[in]

val

Target value

Returns

true

false

Implemented in ros2_canopen::Motor402.

enterModeAndWait()

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

pure virtual

Enter Operation Mode.

Parameters

[in]

mode

Target Mode

Returns

true

false

Implemented in ros2_canopen::Motor402.

isModeSupported()

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

pure virtual

Check if Operation Mode is supported.

Parameters

[in]

mode

Operation Mode to be checked

Returns

true

false

Implemented in ros2_canopen::Motor402.

getMode()

virtual uint16_t ros2_canopen::MotorBase::getMode ( )

pure virtual

Get current Mode.

Returns

uint16_t

Implemented in ros2_canopen::Motor402.

registerDefaultModes()

virtual void ros2_canopen::MotorBase::registerDefaultModes ( )

inlinevirtual

Register default Operation Modes.

Reimplemented in ros2_canopen::Motor402.

---

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/base.hpp