DJIMotor Class Reference

#include <DJIMotor.h>

Public Member Functions
	DJIMotor (bool isErroneousMotor=false)
	DJIMotor (short motorID, CANHandler::CANBus canBus, motorType type=STANDARD, const std::string &name="NO_NAME")
	~DJIMotor ()
int	getData (motorDataType data)
void	printAllMotorData ()
void	setPower (int power)
void	setSpeed (int speed)
void	setPosition (int position)
motorMoveMode	getMode ()
	__attribute__ ((unused)) inline bool isConnected() const
int	operator>> (motorDataType data)
void	setPositionPID (float kP, float kI, float kD)
void	setPositionIntegralCap (double cap)
void	setPositionOutputCap (double cap)
void	setSpeedPID (float kP, float kI, float kD)
void	setSpeedIntegralCap (double cap)
void	setSpeedDerivativeCap (double cap)
void	setSpeedOutputCap (double cap)
int	calculateSpeedPID (int desired, int current, double dt)
int	calculatePositionPID (int desired, int current, double dt, int chassis_rpm=0)
int	calculatePeriodicPosition (float dE, double dt, int chassis_rpm=0)

Static Public Member Functions
static int	s_calculateDeltaPhase (int target, int current, int max=TICKS_REVOLUTION)
static float	s_calculateDeltaPhaseF (float target, float current, float max)
static void	s_setCANHandlers (CANHandler *bus_1, CANHandler *bus_2, bool threadSend=true, bool threadFeedback=true)
static void	s_getFeedback (bool debug=false)
static void	s_sendValues (bool debug=false)
static void	s_feedbackThread ()
	the thread that runs the ever-necessary DJIMotor::s_getFeedback()
static void	s_sendThread ()
	the thread that runs the ever-necessary DJIMotor::s_sendValues()
static bool	s_theseConnected (DJIMotor *motors[], int size, bool debug=false)
static bool	s_allConnected (bool debug=false)

Public Attributes
std::string	name = "NO_NAME"
int16_t	powerOut = 0
PID	pidSpeed
PID	pidPosition
int	multiTurn = 0
int	outputCap = INT16_T_MAX
bool	useAbsEncoder = true
bool	printAngle = false
motorType	type = NONE

Static Public Attributes
static int	motorCount = 0
static bool	initializedWarning = false

Constructor & Destructor Documentation

DJIMotor() [1/2]

DJIMotor::DJIMotor ( bool  isErroneousMotor = false )

explicit

DJIMotor() [2/2]

DJIMotor::DJIMotor	(	short	motorID,
		CANHandler::CANBus	canBus,
		motorType	type = STANDARD,
		const std::string &	name = "NO_NAME"
	)

~DJIMotor()

DJIMotor::~DJIMotor

(

)

Member Function Documentation

__attribute__()

DJIMotor::__attribute__ ( (unused)  ) const

inline

calculatePeriodicPosition()

int DJIMotor::calculatePeriodicPosition ( float  dE, double  dt, int  chassis_rpm = 0  )

inline

calculatePositionPID()

int DJIMotor::calculatePositionPID ( int  desired, int  current, double  dt, int  chassis_rpm = 0  )

inline

calculateSpeedPID()

int DJIMotor::calculateSpeedPID ( int  desired, int  current, double  dt  )

inline

getData()

int DJIMotor::getData

(

motorDataType

data

)

getMode()

motorMoveMode DJIMotor::getMode ( )

inline

operator>>()

int DJIMotor::operator>> ( motorDataType  data )

inline

printAllMotorData()

void DJIMotor::printAllMotorData

(

)

s_allConnected()

bool DJIMotor::s_allConnected ( bool  debug = false )

static

s_calculateDeltaPhase()

int DJIMotor::s_calculateDeltaPhase ( int  target, int  current, int  max = TICKS_REVOLUTION  )

static

s_calculateDeltaPhaseF()

float DJIMotor::s_calculateDeltaPhaseF ( float  target, float  current, float  max  )

static

s_feedbackThread()

void DJIMotor::s_feedbackThread ( )

static

the thread that runs the ever-necessary DJIMotor::s_getFeedback()

s_getFeedback()

void DJIMotor::s_getFeedback ( bool  debug = false )

static

s_sendThread()

void DJIMotor::s_sendThread ( )

static

the thread that runs the ever-necessary DJIMotor::s_sendValues()

s_sendValues()

void DJIMotor::s_sendValues ( bool  debug = false )

static

s_setCANHandlers()

void DJIMotor::s_setCANHandlers ( CANHandler *  bus_1, CANHandler *  bus_2, bool  threadSend = true, bool  threadFeedback = true  )

static

s_theseConnected()

bool DJIMotor::s_theseConnected ( DJIMotor *  motors[], int  size, bool  debug = false  )

static

setPosition()

void DJIMotor::setPosition ( int  position )

inline

setPositionIntegralCap()

void DJIMotor::setPositionIntegralCap ( double  cap )

inline

setPositionOutputCap()

void DJIMotor::setPositionOutputCap ( double  cap )

inline

setPositionPID()

void DJIMotor::setPositionPID ( float  kP, float  kI, float  kD  )

inline

setPower()

void DJIMotor::setPower ( int  power )

inline

setSpeed()

void DJIMotor::setSpeed ( int  speed )

inline

setSpeedDerivativeCap()

void DJIMotor::setSpeedDerivativeCap ( double  cap )

inline

setSpeedIntegralCap()

void DJIMotor::setSpeedIntegralCap ( double  cap )

inline

setSpeedOutputCap()

void DJIMotor::setSpeedOutputCap ( double  cap )

inline

setSpeedPID()

void DJIMotor::setSpeedPID ( float  kP, float  kI, float  kD  )

inline

Member Data Documentation

initializedWarning

bool DJIMotor::initializedWarning = false

static

motorCount

int DJIMotor::motorCount = 0

static

multiTurn

int DJIMotor::multiTurn = 0

name

std::string DJIMotor::name = "NO_NAME"

outputCap

int DJIMotor::outputCap = INT16_T_MAX

pidPosition

PID DJIMotor::pidPosition

pidSpeed

PID DJIMotor::pidSpeed

powerOut

int16_t DJIMotor::powerOut = 0

printAngle

bool DJIMotor::printAngle = false

type

motorType DJIMotor::type = NONE

useAbsEncoder

bool DJIMotor::useAbsEncoder = true

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

• core/util/motor/DJIMotor.h
• core/util/motor/DJIMotor.cpp