yarp::dev::IPWMControlRaw 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::IPWMControlRaw:

Public Member Functions
virtual	~IPWMControlRaw ()
virtual bool	getNumberOfMotorsRaw (int *number)=0
	Retrieves the number of controlled motors from the current physical interface. More...
virtual bool	setRefDutyCycleRaw (int m, double ref)=0
	Sets the reference dutycycle of a single motor. More...
virtual bool	setRefDutyCyclesRaw (const double *refs)=0
	Sets the reference dutycycle for all motors. More...
virtual bool	getRefDutyCycleRaw (int m, double *ref)=0
	Gets the last reference sent using the setRefDutyCycleRaw function. More...
virtual bool	getRefDutyCyclesRaw (double *refs)=0
	Gets the last reference sent using the setRefDutyCyclesRaw function. More...
virtual bool	getDutyCycleRaw (int m, double *val)=0
	Gets the current dutycycle of the output of the amplifier (i.e. More...
virtual bool	getDutyCyclesRaw (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 87 of file IPWMControl.h.

Constructor & Destructor Documentation

~IPWMControlRaw()

virtual yarp::dev::IPWMControlRaw::~IPWMControlRaw ( )

inlinevirtual

Definition at line 90 of file IPWMControl.h.

Member Function Documentation

getDutyCycleRaw()

virtual bool yarp::dev::IPWMControlRaw::getDutyCycleRaw ( 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 FakeMotionControl.

getDutyCyclesRaw()

virtual bool yarp::dev::IPWMControlRaw::getDutyCyclesRaw ( 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 FakeMotionControl.

getNumberOfMotorsRaw()

virtual bool yarp::dev::IPWMControlRaw::getNumberOfMotorsRaw ( 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 FakeMotionControl.

getRefDutyCycleRaw()

virtual bool yarp::dev::IPWMControlRaw::getRefDutyCycleRaw ( int  m, double *  ref  )

pure virtual

Gets the last reference sent using the setRefDutyCycleRaw 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 FakeMotionControl.

getRefDutyCyclesRaw()

virtual bool yarp::dev::IPWMControlRaw::getRefDutyCyclesRaw ( double *  refs )

pure virtual

Gets the last reference sent using the setRefDutyCyclesRaw 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 FakeMotionControl.

setRefDutyCycleRaw()

virtual bool yarp::dev::IPWMControlRaw::setRefDutyCycleRaw ( int  m, double  ref  )

pure virtual

Sets the reference dutycycle of a single motor.

Parameters

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

Returns

true/false on success/failure

Implemented in FakeMotionControl.

setRefDutyCyclesRaw()

virtual bool yarp::dev::IPWMControlRaw::setRefDutyCyclesRaw ( const double *  refs )

pure virtual

Sets the reference dutycycle for all motors.

Parameters

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

Returns

true/false on success/failure

Implemented in FakeMotionControl.

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

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