DJIMotor.h File Reference

#include "mbed.h"
#include "util/algorithms/PID.h"
#include "util/communications/CANHandler.h"
#include <cmath>
#include <string>

Go to the source code of this file.

Classes
class	DJIMotor
struct	DJIMotor::config

Enumerations
enum	motorDataType {   ANGLE , VELOCITY , TORQUE , TEMPERATURE ,   MULTITURNANGLE , POWEROUT , VALUE }
enum	motorType {   NONE = 0 , STANDARD = 1 , GM6020 = 2 , M3508 = 3 ,   M2006 = 4 , M3508_FLYWHEEL = 5 }

Variables
constexpr float	M3508_GEAR_RATIO = 3591.0f / 187.0f
constexpr float	M2006_GEAR_RATIO = 36.0f
constexpr int	TICKS_REVOLUTION = 8192
constexpr int	TIMEOUT_MS = 400
constexpr int	CAN_HANDLER_NUMBER = 2
constexpr int	INT16_T_MAX = 32767
constexpr int	INT15_T_MAX = 16383
constexpr int	s_sendIDs [3] = {0x200, 0x1FF, 0x2FF}

Enumeration Type Documentation

motorDataType

enum motorDataType

Enumerator
ANGLE
VELOCITY
TORQUE
TEMPERATURE
MULTITURNANGLE
POWEROUT
VALUE

motorType

enum motorType

Enumerator
NONE
STANDARD
GM6020
M3508
M2006
M3508_FLYWHEEL

Variable Documentation

CAN_HANDLER_NUMBER

constexpr int CAN_HANDLER_NUMBER = 2

constexpr

INT15_T_MAX

constexpr int INT15_T_MAX = 16383

constexpr

INT16_T_MAX

constexpr int INT16_T_MAX = 32767

constexpr

M2006_GEAR_RATIO

constexpr float M2006_GEAR_RATIO = 36.0f

constexpr

M3508_GEAR_RATIO

constexpr float M3508_GEAR_RATIO = 3591.0f / 187.0f

constexpr

s_sendIDs

constexpr int s_sendIDs[3] = {0x200, 0x1FF, 0x2FF}

constexpr

TICKS_REVOLUTION

constexpr int TICKS_REVOLUTION = 8192

constexpr

TIMEOUT_MS

constexpr int TIMEOUT_MS = 400

constexpr