#include <ControlBoardWrapper/ControlBoardWrapperMotor.h>

Inheritance diagram for ControlBoardWrapperMotor:

Public Member Functions
bool	getNumberOfMotors (int *num) override
	Get the number of available motors. More...

bool	getTemperature (int m, double *val) override
	Get temperature of a motor. More...

bool	getTemperatures (double *vals) override
	Get temperature of all the motors. More...

bool	getTemperatureLimit (int m, double *val) override
	Retreives the current temperature limit for a specific motor. More...

bool	setTemperatureLimit (int m, const double val) override
	Set the temperature limit for a specific motor. More...

bool	getGearboxRatio (int m, double *val) override
	Get the gearbox ratio for a specific motor. More...

bool	setGearboxRatio (int m, const double val) override
	Set the gearbox ratio for a specific motor. More...

Public Member Functions inherited from ControlBoardWrapperCommon
bool	getAxes (int *ax)

bool	setRefAcceleration (int j, double acc)

bool	setRefAccelerations (const double *accs)

bool	setRefAccelerations (const int n_joints, const int joints, const double accs)

bool	getRefAcceleration (int j, double *acc)

bool	getRefAccelerations (double *accs)

bool	getRefAccelerations (const int n_joints, const int joints, double accs)

bool	stop (int j)

bool	stop ()

bool	stop (const int n_joint, const int *joints)

bool	getNumberOfMotors (int *num)

bool	getCurrent (int m, double *curr)

bool	getCurrents (double *currs)

void	printError (const std::string &func_name, const std::string &info, bool result)

Public Member Functions inherited from yarp::dev::IMotor
virtual	~IMotor ()
	Destructor. More...

Additional Inherited Members
Public Attributes inherited from ControlBoardWrapperCommon
WrappedDevice	device

size_t	controlledJoints {0}

std::string	partName

std::mutex	rpcDataMutex

MultiJointData	rpcData

std::mutex	timeMutex

yarp::os::Stamp	time

Detailed Description

Definition at line 16 of file ControlBoardWrapperMotor.h.

Member Function Documentation

◆ getGearboxRatio()

bool ControlBoardWrapperMotor::getGearboxRatio	(	int	m,
		double *	val
	)

overridevirtual

Get the gearbox ratio for a specific motor.

Parameters

m	motor number
val	retrieved gearbox ratio

Returns: true/false

Reimplemented from yarp::dev::IMotor.

Definition at line 89 of file ControlBoardWrapperMotor.cpp.

◆ getNumberOfMotors()

bool ControlBoardWrapperMotor::getNumberOfMotors ( int * num )

inlineoverridevirtual

Get the number of available motors.

Parameters

num	retrieved number of available motors

Returns: true/false

Implements yarp::dev::IMotor.

Definition at line 21 of file ControlBoardWrapperMotor.h.

◆ getTemperature()

bool ControlBoardWrapperMotor::getTemperature	(	int	m,
		double *	val
	)

overridevirtual

Get temperature of a motor.

Parameters

m	motor number
val	retrieved motor temperature

Returns: true/false

Implements yarp::dev::IMotor.

Definition at line 13 of file ControlBoardWrapperMotor.cpp.

◆ getTemperatureLimit()

bool ControlBoardWrapperMotor::getTemperatureLimit	(	int	m,
		double *	temp
	)

overridevirtual

Retreives the current temperature limit for a specific motor.

The specific behavior of the motor when the temperature limit is exceeded depends on the implementation (power off recommended)

Parameters

m	motor number
temp	the current temperature limit.

Returns: true/false

Implements yarp::dev::IMotor.

Definition at line 56 of file ControlBoardWrapperMotor.cpp.

◆ getTemperatures()

bool ControlBoardWrapperMotor::getTemperatures ( double * vals )

overridevirtual

Get temperature of all the motors.

Parameters

vals	pointer to an array containing all motor temperatures

Returns: true/false

Implements yarp::dev::IMotor.

Definition at line 30 of file ControlBoardWrapperMotor.cpp.

◆ setGearboxRatio()

bool ControlBoardWrapperMotor::setGearboxRatio	(	int	m,
		const double	val
	)

overridevirtual

Set the gearbox ratio for a specific motor.

Parameters

m	motor number
gearbox	ratio to be set

Returns: true/false

Reimplemented from yarp::dev::IMotor.

Definition at line 106 of file ControlBoardWrapperMotor.cpp.

◆ setTemperatureLimit()

bool ControlBoardWrapperMotor::setTemperatureLimit	(	int	m,
		const double	temp
	)

overridevirtual

Set the temperature limit for a specific motor.

The specific behavior of the motor when the temperature limit is exceeded depends on the implementation (power off recommended)

Parameters

m	motor number
temp	the temperature limit to be set

Returns: true/false

Implements yarp::dev::IMotor.

Definition at line 73 of file ControlBoardWrapperMotor.cpp.

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

src/devices/ControlBoardWrapper/ControlBoardWrapperMotor.h
src/devices/ControlBoardWrapper/ControlBoardWrapperMotor.cpp

Public Member Functions

Additional Inherited Members

Detailed Description

Member Function Documentation

◆ getGearboxRatio()

◆ getNumberOfMotors()

◆ getTemperature()

◆ getTemperatureLimit()

◆ getTemperatures()

◆ setGearboxRatio()

◆ setTemperatureLimit()