Interface for control boards implementing current control.
More...
#include <yarp/dev/ICurrentControl.h>
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| virtual | ~ICurrentControlRaw () |
| | Destructor. More...
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| virtual bool | getNumberOfMotorsRaw (int *number)=0 |
| | Retrieves the number of controlled motors from the current physical interface. More...
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| virtual bool | getCurrentRaw (int m, double *curr)=0 |
| | Get the instantaneous current measurement for a single motor. More...
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| virtual bool | getCurrentsRaw (double *currs)=0 |
| | Get the instantaneous current measurement for all motors. More...
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| virtual bool | getCurrentRangeRaw (int m, double *min, double *max)=0 |
| | Get the full scale of the current measurement for a given motor (e.g. More...
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| virtual bool | getCurrentRangesRaw (double *min, double *max)=0 |
| | Get the full scale of the current measurements for all motors motor (e.g. More...
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| virtual bool | setRefCurrentsRaw (const double *currs)=0 |
| | Set the reference value of the currents for all motors. More...
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| virtual bool | setRefCurrentRaw (int m, double curr)=0 |
| | Set the reference value of the current for a single motor. More...
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| virtual bool | setRefCurrentsRaw (const int n_motor, const int *motors, const double *currs)=0 |
| | Set the reference value of the current for a group of motors. More...
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| virtual bool | getRefCurrentsRaw (double *currs)=0 |
| | Get the reference value of the currents for all motors. More...
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| virtual bool | getRefCurrentRaw (int m, double *curr)=0 |
| | Get the reference value of the current for a single motor. More...
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Interface for control boards implementing current control.
Definition at line 113 of file ICurrentControl.h.
◆ ~ICurrentControlRaw()
| virtual yarp::dev::ICurrentControlRaw::~ICurrentControlRaw |
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inlinevirtual |
◆ getCurrentRangeRaw()
| virtual bool yarp::dev::ICurrentControlRaw::getCurrentRangeRaw |
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int |
m, |
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double * |
min, |
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double * |
max |
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) |
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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
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| 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 FakeMotionControl.
◆ getCurrentRangesRaw()
| virtual bool yarp::dev::ICurrentControlRaw::getCurrentRangesRaw |
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double * |
min, |
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double * |
max |
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) |
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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
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| 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 FakeMotionControl.
◆ getCurrentRaw()
| virtual bool yarp::dev::ICurrentControlRaw::getCurrentRaw |
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int |
m, |
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double * |
curr |
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) |
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pure virtual |
Get the instantaneous current measurement for a single motor.
- Parameters
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| m | motor number |
| curr | pointer to the result value |
- Returns
- true/false on success/failure
Implemented in FakeMotionControl.
◆ getCurrentsRaw()
| virtual bool yarp::dev::ICurrentControlRaw::getCurrentsRaw |
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double * |
currs | ) |
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pure virtual |
Get the instantaneous current measurement for all motors.
- Parameters
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| currs | pointer to the array that will store the output |
- Returns
- true/false on success/failure
Implemented in FakeMotionControl.
◆ getNumberOfMotorsRaw()
| virtual bool yarp::dev::ICurrentControlRaw::getNumberOfMotorsRaw |
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int * |
number | ) |
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pure virtual |
Retrieves the number of controlled motors from the current physical interface.
- Parameters
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| number | returns the number of controlled motors. |
- Returns
- true/false on success/failure
Implemented in FakeMotionControl.
◆ getRefCurrentRaw()
| virtual bool yarp::dev::ICurrentControlRaw::getRefCurrentRaw |
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int |
m, |
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double * |
curr |
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) |
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pure virtual |
Get the reference value of the current for a single motor.
- Parameters
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| m | motor number |
| curr | the current reference value for motor m |
- Returns
- true/false on success/failure
Implemented in FakeMotionControl.
◆ getRefCurrentsRaw()
| virtual bool yarp::dev::ICurrentControlRaw::getRefCurrentsRaw |
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double * |
currs | ) |
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pure virtual |
Get the reference value of the currents for all motors.
- Parameters
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| currs | pointer to the array to be filled with reference current values. |
- Returns
- true/false on success/failure
Implemented in FakeMotionControl.
◆ setRefCurrentRaw()
| virtual bool yarp::dev::ICurrentControlRaw::setRefCurrentRaw |
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int |
m, |
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double |
curr |
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) |
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pure virtual |
Set the reference value of the current for a single motor.
- Parameters
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| m | motor number |
| curr | the current reference value for motor m |
- Returns
- true/false on success/failure
Implemented in FakeMotionControl.
◆ setRefCurrentsRaw() [1/2]
| virtual bool yarp::dev::ICurrentControlRaw::setRefCurrentsRaw |
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const double * |
currs | ) |
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pure virtual |
Set the reference value of the currents for all motors.
- Parameters
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| currs | the array containt the reference current values |
- Returns
- true/false on success/failure
Implemented in FakeMotionControl.
◆ setRefCurrentsRaw() [2/2]
| virtual bool yarp::dev::ICurrentControlRaw::setRefCurrentsRaw |
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const int |
n_motor, |
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const int * |
motors, |
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const double * |
currs |
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) |
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pure virtual |
Set the reference value of the current for a group of motors.
- Parameters
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| n_motor | size of motors ans currs arrays |
| motors | pointer to the array of motor numbers |
| refs | pointer to the array specifying the new current reference |
- Returns
- true/false on success/failure
Implemented in FakeMotionControl.
The documentation for this class was generated from the following file:
Inheritance diagram for yarp::dev::ICurrentControlRaw:
1.8.20 