ControlBoardWrapperPWMControl Class Reference

#include <ControlBoardWrapper/ControlBoardWrapperPWMControl.h>

Inheritance diagram for ControlBoardWrapperPWMControl:

Public Member Functions
bool	getNumberOfMotors (int *num) override
	Retrieves the number of controlled motors from the current physical interface. More...
bool	setRefDutyCycle (int j, double v) override
	Sets the reference dutycycle to a single motor. More...
bool	setRefDutyCycles (const double *v) override
	Sets the reference dutycycle for all the motors. More...
bool	getRefDutyCycle (int j, double *v) override
	Gets the last reference sent using the setRefDutyCycle function. More...
bool	getRefDutyCycles (double *v) override
	Gets the last reference sent using the setRefDutyCycles function. More...
bool	getDutyCycle (int j, double *v) override
	Gets the current dutycycle of the output of the amplifier (i.e. More...
bool	getDutyCycles (double *v) override
	Gets the current dutycycle of the output of the amplifier (i.e. 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::IPWMControl
virtual	~IPWMControl ()

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 17 of file ControlBoardWrapperPWMControl.h.

Member Function Documentation

getDutyCycle()

bool ControlBoardWrapperPWMControl::getDutyCycle ( int  m, double *  val  )

overridevirtual

Gets the current dutycycle of the output of the amplifier (i.e.

pwm value sent to the motor)

Parameters

m	motor number
val	pointer to storage for return value, expressed as percentage (-100% +100%)

Returns

true/false on success/failure

Implements yarp::dev::IPWMControl.

Definition at line 106 of file ControlBoardWrapperPWMControl.cpp.

getDutyCycles()

bool ControlBoardWrapperPWMControl::getDutyCycles ( double *  vals )

overridevirtual

Gets the current dutycycle of the output of the amplifier (i.e.

pwm values sent to all motors)

Parameters

vals	pointer to the vector that will store the values, expressed as percentage (-100% +100%)

Returns

true/false on success/failure

Implements yarp::dev::IPWMControl.

Definition at line 128 of file ControlBoardWrapperPWMControl.cpp.

getNumberOfMotors()

bool ControlBoardWrapperPWMControl::getNumberOfMotors ( int *  number )

inlineoverridevirtual

Retrieves the number of controlled motors from the current physical interface.

Parameters

number

returns the number of controlled motors.

Returns

true/false on success/failure

Implements yarp::dev::IPWMControl.

Definition at line 22 of file ControlBoardWrapperPWMControl.h.

getRefDutyCycle()

bool ControlBoardWrapperPWMControl::getRefDutyCycle ( int  m, double *  ref  )

overridevirtual

Gets the last reference sent using the setRefDutyCycle function.

Parameters

m	motor number
ref	pointer to storage for return value, expressed as percentage (-100% +100%)

Returns

true/false on success/failure

Implements yarp::dev::IPWMControl.

Definition at line 58 of file ControlBoardWrapperPWMControl.cpp.

getRefDutyCycles()

bool ControlBoardWrapperPWMControl::getRefDutyCycles ( double *  refs )

overridevirtual

Gets the last reference sent using the setRefDutyCycles function.

Parameters

refs	pointer to the vector that will store the values, expressed as percentage (-100% +100%)

Returns

true/false on success/failure

Implements yarp::dev::IPWMControl.

Definition at line 80 of file ControlBoardWrapperPWMControl.cpp.

setRefDutyCycle()

bool ControlBoardWrapperPWMControl::setRefDutyCycle ( int  m, double  ref  )

overridevirtual

Sets the reference dutycycle to a single motor.

Parameters

m	motor number
ref	the dutycycle, expressed as percentage (-100% +100%)

Returns

true/false on success/failure

Implements yarp::dev::IPWMControl.

Definition at line 14 of file ControlBoardWrapperPWMControl.cpp.

setRefDutyCycles()

bool ControlBoardWrapperPWMControl::setRefDutyCycles ( const double *  refs )

overridevirtual

Sets the reference dutycycle for all the motors.

Parameters

refs	the dutycycle, expressed as percentage (-100% +100%)

Returns

true/false on success/failure

Implements yarp::dev::IPWMControl.

Definition at line 36 of file ControlBoardWrapperPWMControl.cpp.

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

• src/devices/ControlBoardWrapper/ControlBoardWrapperPWMControl.h
• src/devices/ControlBoardWrapper/ControlBoardWrapperPWMControl.cpp