aruna::movement::ActuatorSet Class Reference

#include <ActuatorSet.h>

Inheritance diagram for aruna::movement::ActuatorSet:

Collaboration diagram for aruna::movement::ActuatorSet:

Classes
struct	transform_t

Public Member Functions
	ActuatorSet (transform_t *transform, size_t transform_size)
	put diffrent drivers in a driver set to allow them to cooperate and transform into a different axis when turned on together More...
Public Member Functions inherited from aruna::movement::Actuator
	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...

Private Member Functions
err_t	_set (axis_mask_t axisMask, int16_t speed) override
	Implementation of axis movement, this function is called from set(...). More...
axis_mask_t	compute_axis ()
	Get alle the axis from all inside the set and put them together. More...
err_t	err_check ()

Private Attributes
transform_t *	transform
const size_t	transform_size

Static Private Attributes
static aruna::log::channel_t	log

Additional Inherited Members
Public Attributes inherited from aruna::movement::Actuator
err_t	startup_error = err_t::NOT_STARTED
	error when constructing gets put here, read before usage. More...
Static Protected Member Functions inherited from aruna::movement::Actuator
static double	convert_range (uint16_t input, float range_max=100.f, float range_min=0.f)
	Convert uint16 to a new range. More...

Detailed Description

Definition at line 13 of file ActuatorSet.h.

Constructor & Destructor Documentation

ActuatorSet()

aruna::movement::ActuatorSet::ActuatorSet	(	transform_t *	transform,
		size_t	transform_size
	)

put diffrent drivers in a driver set to allow them to cooperate and transform into a different axis when turned on together

Parameters

transform	array of transform_t
transform_size	size of array

Definition at line 13 of file ActuatorSet.cpp.

                                                                              : Actuator(axis_mask_t::NONE), transform(transform),
                                                                                  transform_size(transform_size){

            set_axis(compute_axis());
            startup_error = err_check();
        }

Here is the call graph for this function:

Member Function Documentation

_set()

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

overrideprivatevirtual

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...

Implements aruna::movement::Actuator.

Definition at line 20 of file ActuatorSet.cpp.

                                                                   {
            err_t err = err_t::OK;
            err_t last_failure = err;
            for (int i = 0; i < transform_size; ++i) {
                if ((uint8_t) transform[i].transform_to & (uint8_t) axisMask) {
                    int32_t adjusted_speed = ((float) speed * (transform[i].speed_percentage / (float) 100.0));
                    adjusted_speed = transform[i].flip_direction ? adjusted_speed * -1: adjusted_speed;
                    adjusted_speed = fmax(adjusted_speed, INT16_MIN);
                    adjusted_speed = fmin(adjusted_speed, INT16_MAX);
                    log.verbose("setting driver transformed: %i, axis: 0x%X, speed:%i", i, transform[i].axis,
                                adjusted_speed);
                    err = transform[i].driver->set(transform[i].axis, (int16_t) adjusted_speed);
                } else {
                    log.verbose("setting driver: %i, axis: 0x%X, speed:%i", i, axisMask, speed);
                    err = transform[i].driver->set(axisMask, speed);
                }
                if ((uint8_t) err) {
                    last_failure = err;
                }
            }
            return last_failure;
        }

Here is the call graph for this function:

compute_axis()

axis_mask_t aruna::movement::ActuatorSet::compute_axis ( )

private

Get alle the axis from all inside the set and put them together.

Returns

axis mask of all actuators in the set.

Definition at line 43 of file ActuatorSet.cpp.

                                              {
            axis_mask_t axis = axis_mask_t::NONE;
            for (int i = 0; i < transform_size; ++i) {
                axis = (axis_mask_t) ((uint8_t) axis | (uint8_t) transform[i].driver->get_axis() |
                                      (uint8_t) transform[i].transform_to);
            }
            return axis;
        }

Here is the caller graph for this function:

err_check()

err_t aruna::movement::ActuatorSet::err_check ( )

private

Definition at line 53 of file ActuatorSet.cpp.

                                     {
            err_t err = err_t::OK;
            err_t last_failure = err;
            for (int i = 0; i < transform_size; ++i) {
                err = transform[i].driver->startup_error;
                if ((uint8_t) err) {
                    last_failure = err;
                }
            }
            return last_failure;
        }

Here is the caller graph for this function:

Member Data Documentation

log

log::channel_t aruna::movement::ActuatorSet::log

staticprivate

Definition at line 57 of file ActuatorSet.h.

transform

transform_t* aruna::movement::ActuatorSet::transform

private

Definition at line 55 of file ActuatorSet.h.

transform_size

const size_t aruna::movement::ActuatorSet::transform_size

private

Definition at line 56 of file ActuatorSet.h.

---

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

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