Class RoboteqDriver

Defined in File roboteq_driver.hpp

Inheritance Relationships

Base Types

public husarion_ugv_hardware_interfaces::DriverInterface (Class DriverInterface)
public lely::canopen::LoopDriver

Class Documentation

class RoboteqDriver : public husarion_ugv_hardware_interfaces::DriverInterface, public lely::canopen::LoopDriver

Hardware implementation of Driver with lely LoopDriver for Roboteq drivers control.

Public Functions

RoboteqDriver(const std::shared_ptr<lely::canopen::AsyncMaster> &async_master, const std::uint8_t id, const std::chrono::milliseconds &sdo_operation_timeout_ms)

virtual std::future<void> Boot() override

Triggers boot operations.

Throws:: std::runtime_error – if triggering boot fails

inline virtual bool IsCANError() const override: Returns true if CAN error was detected.

inline virtual bool IsHeartbeatTimeout() const override: Returns true if heartbeat timeout encountered.

virtual DriverState ReadState() override: Reads driver state data returned from Roboteq (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.

virtual void ResetScript() override

Throws:: std::runtime_error – if any operation returns error

virtual void TurnOnEStop() override

Throws:: std::runtime_error – if any operation returns error

virtual void TurnOffEStop() override

Throws:: std::runtime_error – if any operation returns error

virtual void AddMotorDriver(const MotorNames name, std::shared_ptr<MotorDriverInterface> motor_driver) override: Adds a motor driver to the driver.

virtual std::shared_ptr<MotorDriverInterface> GetMotorDriver(const MotorNames name) override

Returns a motor driver by name.

Throws:: std::runtime_error – if motor driver with the given name does not exist

template<typename T> void SyncSDOWrite(const std::uint16_t index, const std::uint8_t subindex, const T data)

Blocking SDO write operation.

Throws:: std::runtime_error – if operation fails

inline timespec GetPositionTimestamp(const std::uint8_t channel): Returns the last timestamp of the position data for the given channel.

inline timespec GetSpeedCurrentTimestamp(const std::uint8_t channel): Returns the last timestamp of the speed and current data for the given channel.

Public Static Attributes

static constexpr std::uint8_t kChannel1 = 1

static constexpr std::uint8_t kChannel2 = 2