ExtendJoint Class Reference

This Packages the RotaryEncoder class and Motor class together into a Hardware Interface. More...

#include <extend_joint.h>

Inheritance diagram for ExtendJoint:

Collaboration diagram for ExtendJoint:

Public Member Functions
	ExtendJoint (const std::string &joint_name, const std::string &spi_device, uint8_t spi_cs_id, uint8_t spi_mode, uint8_t spi_bits, uint32_t spi_speed, uint16_t spi_delay, const std::string &can_name, uint8_t can_id)
void	read ()
void	write ()

Detailed Description

This Packages the RotaryEncoder class and Motor class together into a Hardware Interface.

The class offers two types of interfaces, a joint state interface which reads the joint position from the RotaryEncoder class and a effort interface with which feedback controllers can controll the torque of the robot. More information on hardware interfaces can be found here.

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

• extend_joint.h
• extend_joint.cpp