DJIMotor Class Reference

#include <DJIMotor.h>

Classes
struct	config

Public Types
enum	motorMoveMode {   OFF , POS , SPD , POW ,   ERR }

Public Member Functions
	DJIMotor (bool isErroneousMotor=false)
	DJIMotor (short motorID, CANHandler::CANBus canBus, motorType type=STANDARD, const std::string &name="NO_NAME")
	DJIMotor (config cfg)
	~DJIMotor ()
float	getData (motorDataType data)
void	setMotorOutput (int val, motorMoveMode mod)
void	setPower (int power)
void	setSpeed (float speed)
void	setPosition (float position)
motorMoveMode	getMode ()
	__attribute__ ((unused)) inline bool isConnected() const
int	operator>> (motorDataType data)
	DJIMotor (const DJIMotor &)=delete
DJIMotor &	operator= (const DJIMotor &)=delete
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)
float	calculateSpeedPID (float desired, float current, double dt)
float	calculatePositionPID (float desired, float current, double dt)
float	calculatePeriodicPosition (float dE, double dt)

Static Public Member Functions
static int	calculateDeltaPhase (int target, int current, int max=TICKS_REVOLUTION)
static float	calculateDeltaPhase (float target, float current, float max)
static void	setCanHandlers (CANHandler *can_1, CANHandler *can_2)
static void	getCan1Feedback (const CANMsg *msg)
static void	getCan2Feedback (const CANMsg *msg)
static void	sendValues (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 = false
bool	printAngle = false
motorType	type = NONE

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

Member Enumeration Documentation

motorMoveMode

enum DJIMotor::motorMoveMode

Enumerator
OFF
POS
SPD
POW
ERR

Constructor & Destructor Documentation

DJIMotor() [1/4]

DJIMotor::DJIMotor ( bool  isErroneousMotor = false )

explicit

DJIMotor() [2/4]

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

DJIMotor() [3/4]

DJIMotor::DJIMotor

(

config

cfg

)

~DJIMotor()

DJIMotor::~DJIMotor

(

)

DJIMotor() [4/4]

DJIMotor::DJIMotor ( const DJIMotor &  )

delete

Member Function Documentation

__attribute__()

DJIMotor::__attribute__ ( (unused)  ) const

inline

calculateDeltaPhase() [1/2]

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

static

calculateDeltaPhase() [2/2]

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

static

calculatePeriodicPosition()

float DJIMotor::calculatePeriodicPosition ( float  dE, double  dt  )

inline

calculatePositionPID()

float DJIMotor::calculatePositionPID ( float  desired, float  current, double  dt  )

inline

calculateSpeedPID()

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

inline

getCan1Feedback()

void DJIMotor::getCan1Feedback ( const CANMsg *  msg )

static

getCan2Feedback()

void DJIMotor::getCan2Feedback ( const CANMsg *  msg )

static

getData()

float DJIMotor::getData

(

motorDataType

data

)

getMode()

motorMoveMode DJIMotor::getMode ( )

inline

operator=()

DJIMotor & DJIMotor::operator= ( const DJIMotor &  )

delete

operator>>()

int DJIMotor::operator>> ( motorDataType  data )

inline

sendValues()

void DJIMotor::sendValues ( bool  debug = false )

static

setCanHandlers()

void DJIMotor::setCanHandlers ( CANHandler *  can_1, CANHandler *  can_2  )

static

setMotorOutput()

void DJIMotor::setMotorOutput ( int  val, motorMoveMode  mod  )

inline

setPosition()

void DJIMotor::setPosition ( float  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 ( float  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 = false

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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