yarp::dev::IPWMControl Class Reference

Interface for controlling an axis, by sending directly a PWM reference signal to a motor. More...

#include <yarp/dev/IPWMControl.h>

Inheritance diagram for yarp::dev::IPWMControl:

Public Member Functions
virtual	~IPWMControl ()
virtual bool	getNumberOfMotors (int *number)=0
	Retrieves the number of controlled motors from the current physical interface. More...
virtual bool	setRefDutyCycle (int m, double ref)=0
	Sets the reference dutycycle to a single motor. More...
virtual bool	setRefDutyCycles (const double *refs)=0
	Sets the reference dutycycle for all the motors. More...
virtual bool	getRefDutyCycle (int m, double *ref)=0
	Gets the last reference sent using the setRefDutyCycle function. More...
virtual bool	getRefDutyCycles (double *refs)=0
	Gets the last reference sent using the setRefDutyCycles function. More...
virtual bool	getDutyCycle (int m, double *val)=0
	Gets the current dutycycle of the output of the amplifier (i.e. More...
virtual bool	getDutyCycles (double *vals)=0
	Gets the current dutycycle of the output of the amplifier (i.e. More...

Detailed Description

Interface for controlling an axis, by sending directly a PWM reference signal to a motor.

Definition at line 27 of file IPWMControl.h.

Constructor & Destructor Documentation

~IPWMControl()

virtual yarp::dev::IPWMControl::~IPWMControl ( )

inlinevirtual

Definition at line 30 of file IPWMControl.h.

Member Function Documentation

getDutyCycle()

virtual bool yarp::dev::IPWMControl::getDutyCycle ( int  m, double *  val  )

pure virtual

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

Implemented in ControlBoardRemapper, yarp::dev::ImplementPWMControl, ControlBoardWrapperPWMControl, and RemoteControlBoard.

getDutyCycles()

virtual bool yarp::dev::IPWMControl::getDutyCycles ( double *  vals )

pure virtual

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

Implemented in ControlBoardRemapper, yarp::dev::ImplementPWMControl, ControlBoardWrapperPWMControl, and RemoteControlBoard.

getNumberOfMotors()

virtual bool yarp::dev::IPWMControl::getNumberOfMotors ( int *  number )

pure virtual

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

Implemented in RemoteControlBoard, ControlBoardWrapperPWMControl, ControlBoardRemapper, and yarp::dev::ImplementPWMControl.

getRefDutyCycle()

virtual bool yarp::dev::IPWMControl::getRefDutyCycle ( int  m, double *  ref  )

pure virtual

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

Implemented in ControlBoardRemapper, yarp::dev::ImplementPWMControl, ControlBoardWrapperPWMControl, and RemoteControlBoard.

getRefDutyCycles()

virtual bool yarp::dev::IPWMControl::getRefDutyCycles ( double *  refs )

pure virtual

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

Implemented in yarp::dev::ImplementPWMControl, ControlBoardWrapperPWMControl, RemoteControlBoard, and ControlBoardRemapper.

setRefDutyCycle()

virtual bool yarp::dev::IPWMControl::setRefDutyCycle ( int  m, double  ref  )

pure virtual

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

Implemented in ControlBoardRemapper, yarp::dev::ImplementPWMControl, RemoteControlBoard, and ControlBoardWrapperPWMControl.

setRefDutyCycles()

virtual bool yarp::dev::IPWMControl::setRefDutyCycles ( const double *  refs )

pure virtual

Sets the reference dutycycle for all the motors.

Parameters

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

Returns

true/false on success/failure

Implemented in yarp::dev::ImplementPWMControl, RemoteControlBoard, ControlBoardWrapperPWMControl, and ControlBoardRemapper.

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

• src/libYARP_dev/src/yarp/dev/IPWMControl.h