YARP
Yet Another Robot Platform
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yarp::dev::IAmplifierControl Class Referenceabstract
yarp::dev Yarp Devices » Device Interfaces » Motor Interfaces

Interface for control devices, amplifier commands. More...

#include <yarp/dev/IAmplifierControl.h>

+ Inheritance diagram for yarp::dev::IAmplifierControl:

Public Member Functions

virtual ~IAmplifierControl ()
 Destructor. More...
 
virtual bool enableAmp (int j)=0
 Enable the amplifier on a specific joint. More...
 
virtual bool disableAmp (int j)=0
 Disable the amplifier on a specific joint. More...
 
virtual bool getAmpStatus (int *st)=0
 
virtual bool getAmpStatus (int j, int *v)=0
 
virtual bool getCurrents (double *vals)=0
 
virtual bool getCurrent (int j, double *val)=0
 
virtual bool getMaxCurrent (int j, double *v)=0
 Returns the maximum electric current allowed for a given motor. More...
 
virtual bool setMaxCurrent (int j, double v)=0
 
virtual bool getNominalCurrent (int m, double *val)
 
virtual bool setNominalCurrent (int m, const double val)
 
virtual bool getPeakCurrent (int m, double *val)
 
virtual bool setPeakCurrent (int m, const double val)
 
virtual bool getPWM (int j, double *val)
 
virtual bool getPWMLimit (int j, double *val)
 
virtual bool setPWMLimit (int j, const double val)
 
virtual bool getPowerSupplyVoltage (int j, double *val)
 

Detailed Description

Interface for control devices, amplifier commands.

Definition at line 32 of file IAmplifierControl.h.

Constructor & Destructor Documentation

◆ ~IAmplifierControl()

virtual yarp::dev::IAmplifierControl::~IAmplifierControl ( )
inlinevirtual

Destructor.

Definition at line 38 of file IAmplifierControl.h.

Member Function Documentation

◆ disableAmp()

virtual bool yarp::dev::IAmplifierControl::disableAmp ( int  j)
pure virtual

Disable the amplifier on a specific joint.

All computations within the board will be carried out normally, but the output will be disabled.

Returns
true/false on success/failure

Implemented in yarp::dev::ImplementAmplifierControl, RemoteControlBoard, FakeBot, ControlBoardWrapperAmplifierControl, and ControlBoardRemapper.

◆ enableAmp()

virtual bool yarp::dev::IAmplifierControl::enableAmp ( int  j)
pure virtual

Enable the amplifier on a specific joint.

Be careful, check that the output of the controller is appropriate (usually zero), to avoid generating abrupt movements.

Returns
true/false on success/failure

Implemented in yarp::dev::ImplementAmplifierControl, RemoteControlBoard, FakeBot, ControlBoardWrapperAmplifierControl, and ControlBoardRemapper.

◆ getAmpStatus() [1/2]

virtual bool yarp::dev::IAmplifierControl::getAmpStatus ( int *  st)
pure virtual

Implemented in yarp::dev::ImplementAmplifierControl, RemoteControlBoard, FakeBot, ControlBoardWrapperAmplifierControl, and ControlBoardRemapper.

◆ getAmpStatus() [2/2]

virtual bool yarp::dev::IAmplifierControl::getAmpStatus ( int  j,
int *  v 
)
pure virtual

Implemented in FakeBot, ControlBoardWrapperAmplifierControl, ControlBoardRemapper, yarp::dev::ImplementAmplifierControl, and RemoteControlBoard.

◆ getCurrent()

virtual bool yarp::dev::IAmplifierControl::getCurrent ( int  j,
double *  val 
)
pure virtual

Implemented in ControlBoardWrapperAmplifierControl, ControlBoardRemapper, yarp::dev::ImplementAmplifierControl, RemoteControlBoard, and FakeBot.

◆ getCurrents()

virtual bool yarp::dev::IAmplifierControl::getCurrents ( double *  vals)
pure virtual

Implemented in yarp::dev::ImplementAmplifierControl, RemoteControlBoard, FakeBot, ControlBoardWrapperAmplifierControl, and ControlBoardRemapper.

◆ getMaxCurrent()

virtual bool yarp::dev::IAmplifierControl::getMaxCurrent ( int  j,
double *  v 
)
pure virtual

Returns the maximum electric current allowed for a given motor.

Exceeding this value will trigger instantaneous hardware fault.

Parameters
jmotor number
vthe return value
Returns
probably true, might return false in bad times

Implemented in yarp::dev::ImplementAmplifierControl, RemoteControlBoard, FakeBot, ControlBoardWrapperAmplifierControl, and ControlBoardRemapper.

◆ getNominalCurrent()

virtual bool yarp::dev::IAmplifierControl::getNominalCurrent ( int  m,
double *  val 
)
inlinevirtual

Reimplemented in yarp::dev::ImplementAmplifierControl, RemoteControlBoard, ControlBoardWrapperAmplifierControl, and ControlBoardRemapper.

Definition at line 107 of file IAmplifierControl.h.

◆ getPeakCurrent()

virtual bool yarp::dev::IAmplifierControl::getPeakCurrent ( int  m,
double *  val 
)
inlinevirtual

Reimplemented in yarp::dev::ImplementAmplifierControl, RemoteControlBoard, ControlBoardWrapperAmplifierControl, and ControlBoardRemapper.

Definition at line 129 of file IAmplifierControl.h.

◆ getPowerSupplyVoltage()

virtual bool yarp::dev::IAmplifierControl::getPowerSupplyVoltage ( int  j,
double *  val 
)
inlinevirtual

Reimplemented in RemoteControlBoard, ControlBoardWrapperAmplifierControl, ControlBoardRemapper, and yarp::dev::ImplementAmplifierControl.

Definition at line 171 of file IAmplifierControl.h.

◆ getPWM()

virtual bool yarp::dev::IAmplifierControl::getPWM ( int  j,
double *  val 
)
inlinevirtual

Reimplemented in RemoteControlBoard, ControlBoardWrapperAmplifierControl, ControlBoardRemapper, and yarp::dev::ImplementAmplifierControl.

Definition at line 148 of file IAmplifierControl.h.

◆ getPWMLimit()

virtual bool yarp::dev::IAmplifierControl::getPWMLimit ( int  j,
double *  val 
)
inlinevirtual

Reimplemented in RemoteControlBoard, ControlBoardWrapperAmplifierControl, ControlBoardRemapper, and yarp::dev::ImplementAmplifierControl.

Definition at line 156 of file IAmplifierControl.h.

◆ setMaxCurrent()

virtual bool yarp::dev::IAmplifierControl::setMaxCurrent ( int  j,
double  v 
)
pure virtual

Implemented in yarp::dev::ImplementAmplifierControl, RemoteControlBoard, FakeBot, ControlBoardWrapperAmplifierControl, and ControlBoardRemapper.

◆ setNominalCurrent()

virtual bool yarp::dev::IAmplifierControl::setNominalCurrent ( int  m,
const double  val 
)
inlinevirtual

Reimplemented in yarp::dev::ImplementAmplifierControl, RemoteControlBoard, ControlBoardWrapperAmplifierControl, and ControlBoardRemapper.

Definition at line 118 of file IAmplifierControl.h.

◆ setPeakCurrent()

virtual bool yarp::dev::IAmplifierControl::setPeakCurrent ( int  m,
const double  val 
)
inlinevirtual

Reimplemented in yarp::dev::ImplementAmplifierControl, RemoteControlBoard, ControlBoardWrapperAmplifierControl, and ControlBoardRemapper.

Definition at line 140 of file IAmplifierControl.h.

◆ setPWMLimit()

virtual bool yarp::dev::IAmplifierControl::setPWMLimit ( int  j,
const double  val 
)
inlinevirtual

Reimplemented in RemoteControlBoard, ControlBoardWrapperAmplifierControl, ControlBoardRemapper, and yarp::dev::ImplementAmplifierControl.

Definition at line 164 of file IAmplifierControl.h.

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