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

#include <swing_joint.h>

Inheritance diagram for SwingJoint:

Collaboration diagram for SwingJoint:

Public Member Functions
	SwingJoint (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, double zero_point, double error_command_position, uint spi_error_treshold, uint16_t mux_sel_pin_1, uint16_t mux_sel_pin_2, double joint_min_pos, double joint_max_pos)
	Constructor of the SwingJoint class. More...

	~SwingJoint ()
	destructor of SwingJoint class

void	read ()
	Reads the Angle of the HallSensor and weighs errors of read. More...

void	write ()
	Writes a command position to the motors.

void	calibrate ()
	Sets the zero angle of the hallsensor using an internal function

uint	getErrorState ()
	Returns true if the sensor is in ERROR state, false otherwise. More...

Detailed Description

This Packages the HallSensor 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 HallSensor 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. It also offers a calibration function which calls the setZero method of the HallSensor. This is done to allow calibration via ROS services. Lastly it contains a function for reading out how many errors in a row the last read accesses had.

Constructor & Destructor Documentation

◆ SwingJoint()

SwingJoint::SwingJoint	(	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,
		double	zero_point,
		double	error_command_position,
		uint	spi_error_treshold,
		uint16_t	mux_sel_pin_1,
		uint16_t	mux_sel_pin_2,
		double	joint_min_pos,
		double	joint_max_pos
	)

Constructor of the SwingJoint class.

double upper joint limit

Parameters

joint_name	string joint name
spi_device	string file descriptor of spi device
spi_cs_id	uint8_t id of sensor on multiplexer
spi_mode	uint8_t mode of spi transfer: clock phase & polarity
spi_bits	uint8_t spi bits per word
spi_speed	uint32_t spi transfer speed in Hz
spi_delay	uint16_t delay in usec after last bit transfer, before device deselect.
can_name	string can name
can_id	uint8_t can id
zero_point	double zero angle offset for sensor
error_command_position	double default motor position (current) if errors occur
spi_error_treshold	uint upper limit for accumulated errors, till ERROR state is reached
mux_sel_pin_1	uint16_t 1st selector pin for multiplexer
mux_sel_pin_2	uint16_t 2nd selector pin for multiplexer
joint_min_pos	double lower joint limit

Member Function Documentation

◆ getErrorState()

uint SwingJoint::getErrorState ( )

Returns true if the sensor is in ERROR state, false otherwise.

Checks if the weighted sum of errors is greater than the error threshold.

◆ read()

void SwingJoint::read ( )

Reads the Angle of the HallSensor and weighs errors of read.

This function sets internal position variable for controller. It also reads the errors of the read access, and calculates a weighted sum of them. The sum dictates, whether the joint is in ERROR state, which is reached if: sum > spi_error_treshold

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