aruna::movement::Actuator Class Reference

#include <Actuator.h>

Inheritance diagram for aruna::movement::Actuator:

Public Member Functions
	Actuator (axis_mask_t axis=axis_mask_t::NONE)
	Actuator object, used by the movement module for vehicle movement. More...
virtual	~Actuator ()
err_t	set_axis (axis_mask_t new_axis)
	Set the axis that this Actuator is capable in moving in. More...
axis_mask_t	get_axis ()
	get the movement modes that this driver supports. More...
err_t	set (axis_mask_t axisMask, int16_t speed)
	Set the speed of the motors directly. More...
uint16_t	get_speed ()
	Get the current speed of Actuator. More...

Public Attributes
err_t	startup_error = err_t::NOT_STARTED
	error when constructing gets put here, read before usage. More...

Static Protected Member Functions
static double	convert_range (uint16_t input, float range_max=100.f, float range_min=0.f)
	Convert uint16 to a new range. More...

Private Member Functions
virtual err_t	_set (axis_mask_t axisMask, int16_t speed)=0
	Implementation of axis movement, this function is called from set(...). More...

Private Attributes
axis_mask_t	axis = axis_mask_t::NONE
int16_t	speed = 0

Detailed Description

Definition at line 14 of file Actuator.h.

Constructor & Destructor Documentation

Actuator()

Actuator::Actuator

(

axis_mask_t

axis = axis_mask_t::NONE

)

Actuator object, used by the movement module for vehicle movement.

Define possible axis this Actuator can move in.

Parameters

axis	axis_mask_t possible containing multiple axis

Definition at line 12 of file Actuator.cpp.

                                   : axis(axis){

}

~Actuator()

Actuator::~Actuator ( )

virtual

Definition at line 51 of file Actuator.cpp.

                    {

}

Member Function Documentation

_set()

virtual err_t aruna::movement::Actuator::_set ( axis_mask_t  axisMask, int16_t  speed  )

privatepure virtual

Implementation of axis movement, this function is called from set(...).

Only gets called when axisMask match axis of Actuator.

Parameters

axisMask	axis (can be multiple) to set speed to.
speed	desired speed.

Returns

err_t::OK if successful, others when not...

Implemented in aruna::driver::Stepper, aruna::driver::Dshot, aruna::driver::Pwm, and aruna::movement::ActuatorSet.

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convert_range()

double Actuator::convert_range ( uint16_t  input, float  range_max = 100.f, float  range_min = 0.f  )

staticprotected

Convert uint16 to a new range.

Parameters

input	input to convert
range_max	maximum range (default is 100)
range_min	minimum range (default is 0)

Returns

output of convertion

Definition at line 46 of file Actuator.cpp.

                                                                               {
//      TODO allow for other type then uint_16 (maybe use <template>? and sizeof()?)
    return ((input * (range_max - range_min)) / 65535) + range_min;
}

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get_axis()

axis_mask_t Actuator::get_axis

(

)

get the movement modes that this driver supports.

Returns

movement_mode mask ORed.

Definition at line 16 of file Actuator.cpp.

                               {
    return axis;
}

get_speed()

uint16_t Actuator::get_speed

(

)

Get the current speed of Actuator.

Returns

speed.

Definition at line 34 of file Actuator.cpp.

                             {
//    TODO speed should be axis indipendent.
    return speed;
}

set()

err_t Actuator::set	(	axis_mask_t	axisMask,
		int16_t	speed
	)

Set the speed of the motors directly.

Parameters

axisMask,multiple	axis to apply speed to.
speed,speed	of the motors

Returns

err_t::OK if the command was succesfull, others when it fails.

Definition at line 20 of file Actuator.cpp.

                                                       {
    err_t err = err_t::OK;
//    TODO check direction via axisMask with(uint8_t) axisMask & (uint8_t) axis_mask_t::DIRECTION_BOTH & (uint8_t) axis
//    or check direction with the speed value, of just leave direction check to implementation.
    if ((uint8_t) axisMask & (uint8_t) axis_mask_t::ALL_AXIS & (uint8_t) axis) {

        err = _set(axisMask, speed);
        if (err == err_t::OK)
            this->speed = speed;
    }
//    TODO return not avaliable error?
    return err;
}

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set_axis()

err_t Actuator::set_axis

(

axis_mask_t

new_axis

)

Set the axis that this Actuator is capable in moving in.

Parameters

new_axis

axis_mask_t possible containing multible axis

Returns

always err_t::OK

Definition at line 40 of file Actuator.cpp.

                                             {
    axis = new_axis;
    return err_t::OK;
}

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Member Data Documentation

axis

axis_mask_t aruna::movement::Actuator::axis = axis_mask_t::NONE

private

Definition at line 28 of file Actuator.h.

speed

int16_t aruna::movement::Actuator::speed = 0

private

Definition at line 29 of file Actuator.h.

startup_error

err_t aruna::movement::Actuator::startup_error = err_t::NOT_STARTED

error when constructing gets put here, read before usage.

Definition at line 45 of file Actuator.h.

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

• include/aruna/movement/Actuator.h
• src/movement/Actuator.cpp