Interface for control boards implementing current control. More...

#include <yarp/dev/ICurrentControl.h>

Inheritance diagram for yarp::dev::ICurrentControl:

Public Member Functions
virtual	~ICurrentControl ()
	Destructor. More...

virtual bool	getNumberOfMotors (int *ax)=0
	Retrieves the number of controlled axes from the current physical interface. More...

virtual bool	getCurrent (int m, double *curr)=0
	Get the instantaneous current measurement for a single motor. More...

virtual bool	getCurrents (double *currs)=0
	Get the instantaneous current measurement for all motors. More...

virtual bool	getCurrentRange (int m, double min, double max)=0
	Get the full scale of the current measurement for a given motor (e.g. More...

virtual bool	getCurrentRanges (double min, double max)=0
	Get the full scale of the current measurements for all motors motor (e.g. More...

virtual bool	setRefCurrents (const double *currs)=0
	Set the reference value of the currents for all motors. More...

virtual bool	setRefCurrent (int m, double curr)=0
	Set the reference value of the current for a single motor. More...

virtual bool	setRefCurrents (const int n_motor, const int motors, const double currs)=0
	Set the reference value of the current for a group of motors. More...

virtual bool	getRefCurrents (double *currs)=0
	Get the reference value of the currents for all motors. More...

virtual bool	getRefCurrent (int m, double *curr)=0
	Get the reference value of the current for a single motor. More...

Detailed Description

Interface for control boards implementing current control.

Definition at line 27 of file ICurrentControl.h.

Constructor & Destructor Documentation

◆ ~ICurrentControl()

virtual yarp::dev::ICurrentControl::~ICurrentControl ( )

inlinevirtual

Destructor.

Definition at line 33 of file ICurrentControl.h.

Member Function Documentation

◆ getCurrent()

virtual bool yarp::dev::ICurrentControl::getCurrent	(	int	m,
		double *	curr
	)

pure virtual

Get the instantaneous current measurement for a single motor.

Parameters

m	motor number
curr	pointer to the result value. Value is expressed in amperes.

Returns: true/false on success/failure

Implemented in ControlBoardWrapperCurrentControl, ControlBoardRemapper, RemoteControlBoard, and yarp::dev::ImplementCurrentControl.

◆ getCurrentRange()

virtual bool yarp::dev::ICurrentControl::getCurrentRange	(	int	m,
		double *	min,
		double *	max
	)

pure virtual

Get the full scale of the current measurement for a given motor (e.g.

-20A +20A) Reference values set by user with methods such as setRefCurrent() should be in this range. This method is not related to the current overload protection methods belonging to the iAmplifierControl interface.

Parameters

m	motor number
min	minimum current of the motor m
max	maximum current of the motor m

Returns: true/false on success/failure

Implemented in ControlBoardRemapper, yarp::dev::ImplementCurrentControl, RemoteControlBoard, and ControlBoardWrapperCurrentControl.

◆ getCurrentRanges()

virtual bool yarp::dev::ICurrentControl::getCurrentRanges	(	double *	min,
		double *	max
	)

pure virtual

Get the full scale of the current measurements for all motors motor (e.g.

-20A +20A) Reference values set by user with methods such as setRefCurrent() should be in this range. This method is not related to the current overload protection methods belonging to the iAmplifierControl interface.

Parameters

min	pointer to the array that will store minimum currents
max	pointer to the array that will store maximum currents

Returns: true/false on success/failure

Implemented in yarp::dev::ImplementCurrentControl, RemoteControlBoard, ControlBoardWrapperCurrentControl, and ControlBoardRemapper.

◆ getCurrents()

virtual bool yarp::dev::ICurrentControl::getCurrents ( double * currs )

pure virtual

Get the instantaneous current measurement for all motors.

Parameters

currs pointer to the array that will store the output. Values are expressed in amperes.

Returns: true/false on success/failure

Implemented in RemoteControlBoard, yarp::dev::ImplementCurrentControl, ControlBoardWrapperCurrentControl, and ControlBoardRemapper.

◆ getNumberOfMotors()

virtual bool yarp::dev::ICurrentControl::getNumberOfMotors ( int * ax )

pure virtual

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

Parameters

ax	returns the number of controlled axes.

Returns: true/false on success/failure

Implemented in RemoteControlBoard, ControlBoardWrapperCurrentControl, ControlBoardRemapper, and yarp::dev::ImplementCurrentControl.

◆ getRefCurrent()

virtual bool yarp::dev::ICurrentControl::getRefCurrent	(	int	m,
		double *	curr
	)

pure virtual

Get the reference value of the current for a single motor.

Parameters

m	motor number
curr	the current reference value for motor m. Value is expressed in amperes.

Returns: true/false on success/failure

Implemented in ControlBoardRemapper, RemoteControlBoard, ControlBoardWrapperCurrentControl, and yarp::dev::ImplementCurrentControl.

◆ getRefCurrents()

virtual bool yarp::dev::ICurrentControl::getRefCurrents ( double * currs )

pure virtual

Get the reference value of the currents for all motors.

Parameters

currs pointer to the array to be filled with reference current values. Values are expressed in amperes.

Returns: true/false on success/failure

Implemented in yarp::dev::ImplementCurrentControl, RemoteControlBoard, ControlBoardWrapperCurrentControl, and ControlBoardRemapper.

◆ setRefCurrent()

virtual bool yarp::dev::ICurrentControl::setRefCurrent	(	int	m,
		double	curr
	)

pure virtual

Set the reference value of the current for a single motor.

Parameters

m	motor number
curr	the current reference value for motor m. Value is expressed in amperes.

Returns: true/false on success/failure

Implemented in ControlBoardRemapper, yarp::dev::ImplementCurrentControl, ControlBoardWrapperCurrentControl, and RemoteControlBoard.

◆ setRefCurrents() [1/2]

virtual bool yarp::dev::ICurrentControl::setRefCurrents ( const double * currs )

pure virtual

Set the reference value of the currents for all motors.

Parameters

currs the array containing the reference current values. Values are expressed in amperes.

Returns: true/false on success/failure

Implemented in yarp::dev::ImplementCurrentControl, ControlBoardWrapperCurrentControl, RemoteControlBoard, and ControlBoardRemapper.

◆ setRefCurrents() [2/2]

virtual bool yarp::dev::ICurrentControl::setRefCurrents	(	const int	n_motor,
		const int *	motors,
		const double *	currs
	)

pure virtual

Set the reference value of the current for a group of motors.

Parameters

n_motor	size of motors ans currs arrays
motors	pointer to the array containing the list of motor numbers
currs	pointer to the array specifying the new current references

Returns: true/false on success/failure

Implemented in ControlBoardRemapper, yarp::dev::ImplementCurrentControl, ControlBoardWrapperCurrentControl, and RemoteControlBoard.

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

src/libYARP_dev/src/yarp/dev/ICurrentControl.h

Public Member Functions

Detailed Description

Constructor & Destructor Documentation

◆ ~ICurrentControl()

Member Function Documentation

◆ getCurrent()

◆ getCurrentRange()

◆ getCurrentRanges()

◆ getCurrents()

◆ getNumberOfMotors()

◆ getRefCurrent()

◆ getRefCurrents()

◆ setRefCurrent()

◆ setRefCurrents() [1/2]

◆ setRefCurrents() [2/2]