Class DriverInterface
Defined in File driver.hpp
Inheritance Relationships
Derived Type
public husarion_ugv_hardware_interfaces::RoboteqDriver(Class RoboteqDriver)
Class Documentation
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class DriverInterface
Abstract class that provides functionality for managing motor drivers.
Subclassed by husarion_ugv_hardware_interfaces::RoboteqDriver
Public Types
Alias for a shared pointer to a Driver object.
Public Functions
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virtual std::future<void> Boot() = 0
Triggers boot operations.
- Throws:
std::runtime_error – if triggering boot fails
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virtual bool IsCANError() const = 0
Returns true if CAN error was detected.
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virtual bool IsHeartbeatTimeout() const = 0
Returns true if heartbeat timeout encountered.
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virtual DriverState ReadState() = 0
Reads driver state data returned from (PDO 3 and 4): error flags, battery voltage, battery currents (for channel 1 and 2, they are not the same as motor currents), temperatures. Also saves the last timestamps.
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virtual void ResetScript() = 0
- Throws:
std::runtime_error – if any operation returns error
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virtual void TurnOnEStop() = 0
- Throws:
std::runtime_error – if any operation returns error
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virtual void TurnOffEStop() = 0
- Throws:
std::runtime_error – if any operation returns error
Adds a motor driver to the driver.
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virtual std::shared_ptr<MotorDriverInterface> GetMotorDriver(const MotorNames name) = 0