The XDriver class. More...

#include <abstract_motor_driver.hpp>

Inheritance diagram for ttl_driver::AbstractMotorDriver:

[legend]

Public Member Functions
	AbstractMotorDriver ()=default

	AbstractMotorDriver (std::shared_ptr< dynamixel::PortHandler > portHandler, std::shared_ptr< dynamixel::PacketHandler > packetHandler)

virtual int	changeId (uint8_t id, uint8_t new_id)=0

virtual int	readControlMode (uint8_t id, uint8_t &mode)=0

virtual int	readMaxPosition (uint8_t id, uint32_t &max_pos)=0

virtual int	readMinPosition (uint8_t id, uint32_t &min_pos)=0

virtual int	readPosition (uint8_t id, uint32_t &present_position)=0

virtual int	readVelocity (uint8_t id, uint32_t &present_velocity)=0

virtual int	readVelocityProfile (uint8_t id, std::vector< uint32_t > &data_list)=0

std::string	str () const override
	AbstractMotorDriver::str. More...

virtual int	syncReadJointStatus (const std::vector< uint8_t > &id_list, std::vector< std::array< uint32_t, 2 > > &data_array_list)=0

virtual int	syncReadPosition (const std::vector< uint8_t > &id_list, std::vector< uint32_t > &position_list)=0

virtual int	syncReadVelocity (const std::vector< uint8_t > &id_list, std::vector< uint32_t > &velocity_list)=0

virtual int	syncWritePositionGoal (const std::vector< uint8_t > &id_list, const std::vector< uint32_t > &position_list)=0

virtual int	syncWriteTorquePercentage (const std::vector< uint8_t > &id_list, const std::vector< uint8_t > &torque_percentage_list)=0

virtual int	syncWriteVelocityGoal (const std::vector< uint8_t > &id_list, const std::vector< uint32_t > &velocity_list)=0

virtual int	writeControlMode (uint8_t id, uint8_t mode)=0

virtual int	writePositionGoal (uint8_t id, uint32_t position)=0

virtual int	writeTorquePercentage (uint8_t id, uint8_t torque_percentage)=0

virtual int	writeVelocityGoal (uint8_t id, uint32_t velocity)=0

virtual int	writeVelocityProfile (uint8_t id, const std::vector< uint32_t > &data_list)=0

Public Member Functions inherited from ttl_driver::AbstractTtlDriver
	AbstractTtlDriver ()=default

	AbstractTtlDriver (std::shared_ptr< dynamixel::PortHandler > portHandler, std::shared_ptr< dynamixel::PacketHandler > packetHandler)
	AbstractTtlDriver::AbstractTtlDriver. More...

virtual int	checkModelNumber (uint8_t id)=0

virtual int	getModelNumber (uint8_t id, uint16_t &model_number)
	AbstractTtlDriver::getModelNumber. More...

virtual std::string	interpretErrorState (uint32_t hw_state) const =0

virtual int	ping (uint8_t id)
	AbstractTtlDriver::ping. More...

virtual int	readCustom (uint16_t address, uint8_t data_len, uint8_t id, uint32_t &data)
	AbstractTtlDriver::readCustom. More...

virtual int	readFirmwareVersion (uint8_t id, std::string &version)=0

virtual int	readHwErrorStatus (uint8_t id, uint8_t &hardware_error_status)=0

virtual int	readTemperature (uint8_t id, uint8_t &temperature)=0

virtual int	readVoltage (uint8_t id, double &voltage)=0

virtual int	reboot (uint8_t id)
	AbstractTtlDriver::reboot. More...

virtual int	scan (std::vector< uint8_t > &id_list)
	AbstractTtlDriver::scan. More...

virtual int	syncReadFirmwareVersion (const std::vector< uint8_t > &id_list, std::vector< std::string > &firmware_version)=0

virtual int	syncReadHwErrorStatus (const std::vector< uint8_t > &id_list, std::vector< uint8_t > &hw_error_list)=0

virtual int	syncReadHwStatus (const std::vector< uint8_t > &id_list, std::vector< std::pair< double, uint8_t > > &data_array_list)=0

virtual int	syncReadRawVoltage (const std::vector< uint8_t > &id_list, std::vector< double > &voltage_list)=0

virtual int	syncReadTemperature (const std::vector< uint8_t > &id_list, std::vector< uint8_t > &temperature_list)=0

virtual int	syncReadVoltage (const std::vector< uint8_t > &id_list, std::vector< double > &voltage_list)=0

virtual int	writeCustom (uint16_t address, uint8_t data_len, uint8_t id, uint32_t data)
	AbstractTtlDriver::writeCustom. More...

virtual int	writeSingleCmd (const std::unique_ptr< common::model::AbstractTtlSingleMotorCmd > &cmd)=0

virtual int	writeSyncCmd (int type, const std::vector< uint8_t > &ids, const std::vector< uint32_t > &params)=0

virtual	~AbstractTtlDriver ()=default

Additional Inherited Members
Protected Member Functions inherited from ttl_driver::AbstractTtlDriver
	AbstractTtlDriver (AbstractTtlDriver &&)=default

	AbstractTtlDriver (const AbstractTtlDriver &)=default

virtual std::string	interpretFirmwareVersion (uint32_t fw_version) const =0

AbstractTtlDriver &	operator= (AbstractTtlDriver &&)=default

AbstractTtlDriver &	operator= (const AbstractTtlDriver &)=default

template<typename T >
int	read (uint16_t address, uint8_t id, T &data)
	AbstractTtlDriver::read. More...

template<typename T >
int	syncRead (uint16_t address, const std::vector< uint8_t > &id_list, std::vector< T > &data_list)
	AbstractTtlDriver::syncRead. More...

template<typename T , const size_t N>
int	syncReadConsecutiveBytes (uint16_t address, const std::vector< uint8_t > &id_list, std::vector< std::array< T, N > > &data_list)
	AbstractTtlDriver::syncReadConsecutiveBytes. More...

template<typename T >
int	syncWrite (uint16_t address, const std::vector< uint8_t > &id_list, const std::vector< T > &data_list)

template<typename T >
int	write (uint16_t address, uint8_t id, T data)

Static Protected Attributes inherited from ttl_driver::AbstractTtlDriver
static constexpr int	PING_WRONG_MODEL_NUMBER = 30

Detailed Description

The XDriver class.

Definition at line 38 of file abstract_motor_driver.hpp.

Constructor & Destructor Documentation

◆ AbstractMotorDriver() [1/2]

ttl_driver::AbstractMotorDriver::AbstractMotorDriver ( )

default

◆ AbstractMotorDriver() [2/2]

ttl_driver::AbstractMotorDriver::AbstractMotorDriver	(	std::shared_ptr< dynamixel::PortHandler >	portHandler,
		std::shared_ptr< dynamixel::PacketHandler >	packetHandler
	)

Member Function Documentation

◆ changeId()

virtual int ttl_driver::AbstractMotorDriver::changeId	(	uint8_t	id,
		uint8_t	new_id
	)

pure virtual

Implemented in ttl_driver::DxlDriver< reg_type >, ttl_driver::Ned3ProStepperDriver< reg_type >, ttl_driver::StepperDriver< reg_type >, ttl_driver::MockDxlDriver, and ttl_driver::MockStepperDriver.

◆ readControlMode()

virtual int ttl_driver::AbstractMotorDriver::readControlMode	(	uint8_t	id,
		uint8_t &	mode
	)

pure virtual

Implemented in ttl_driver::DxlDriver< reg_type >, ttl_driver::Ned3ProStepperDriver< reg_type >, ttl_driver::StepperDriver< reg_type >, ttl_driver::MockStepperDriver, ttl_driver::MockDxlDriver, and ttl_driver::DxlDriver< reg_type >.

◆ readMaxPosition()

virtual int ttl_driver::AbstractMotorDriver::readMaxPosition	(	uint8_t	id,
		uint32_t &	max_pos
	)

pure virtual

Implemented in ttl_driver::DxlDriver< reg_type >, ttl_driver::Ned3ProStepperDriver< reg_type >, ttl_driver::DxlDriver< reg_type >, ttl_driver::StepperDriver< reg_type >, ttl_driver::MockDxlDriver, and ttl_driver::MockStepperDriver.

◆ readMinPosition()

virtual int ttl_driver::AbstractMotorDriver::readMinPosition	(	uint8_t	id,
		uint32_t &	min_pos
	)

pure virtual

Implemented in ttl_driver::DxlDriver< reg_type >, ttl_driver::Ned3ProStepperDriver< reg_type >, ttl_driver::DxlDriver< reg_type >, ttl_driver::StepperDriver< reg_type >, ttl_driver::MockDxlDriver, and ttl_driver::MockStepperDriver.

◆ readPosition()

virtual int ttl_driver::AbstractMotorDriver::readPosition	(	uint8_t	id,
		uint32_t &	present_position
	)

pure virtual

Implemented in ttl_driver::DxlDriver< reg_type >, ttl_driver::MockDxlDriver, ttl_driver::StepperDriver< reg_type >, ttl_driver::Ned3ProStepperDriver< reg_type >, ttl_driver::MockStepperDriver, and ttl_driver::DxlDriver< reg_type >.

◆ readVelocity()

virtual int ttl_driver::AbstractMotorDriver::readVelocity	(	uint8_t	id,
		uint32_t &	present_velocity
	)

pure virtual

Implemented in ttl_driver::DxlDriver< reg_type >, ttl_driver::MockDxlDriver, ttl_driver::StepperDriver< reg_type >, ttl_driver::Ned3ProStepperDriver< reg_type >, ttl_driver::MockStepperDriver, and ttl_driver::DxlDriver< reg_type >.

◆ readVelocityProfile()

virtual int ttl_driver::AbstractMotorDriver::readVelocityProfile	(	uint8_t	id,
		std::vector< uint32_t > &	data_list
	)

pure virtual

Implemented in ttl_driver::DxlDriver< reg_type >, ttl_driver::Ned3ProStepperDriver< reg_type >, ttl_driver::DxlDriver< reg_type >, ttl_driver::MockStepperDriver, ttl_driver::StepperDriver< reg_type >, and ttl_driver::MockDxlDriver.

◆ str()

std::string ttl_driver::AbstractMotorDriver::str ( ) const

overridevirtual

AbstractMotorDriver::str.

Returns

Reimplemented from ttl_driver::AbstractTtlDriver.

Reimplemented in ttl_driver::DxlDriver< reg_type >, ttl_driver::Ned3ProStepperDriver< reg_type >, ttl_driver::StepperDriver< reg_type >, ttl_driver::AbstractStepperDriver, ttl_driver::MockDxlDriver, and ttl_driver::MockStepperDriver.

Definition at line 44 of file abstract_motor_driver.cpp.

◆ syncReadJointStatus()

virtual int ttl_driver::AbstractMotorDriver::syncReadJointStatus	(	const std::vector< uint8_t > &	id_list,
		std::vector< std::array< uint32_t, 2 > > &	data_array_list
	)

pure virtual

Implemented in ttl_driver::MockStepperDriver.

◆ syncReadPosition()

virtual int ttl_driver::AbstractMotorDriver::syncReadPosition	(	const std::vector< uint8_t > &	id_list,
		std::vector< uint32_t > &	position_list
	)

pure virtual

Implemented in ttl_driver::DxlDriver< reg_type >, ttl_driver::MockDxlDriver, ttl_driver::StepperDriver< reg_type >, ttl_driver::Ned3ProStepperDriver< reg_type >, ttl_driver::MockStepperDriver, and ttl_driver::DxlDriver< reg_type >.

◆ syncReadVelocity()

virtual int ttl_driver::AbstractMotorDriver::syncReadVelocity	(	const std::vector< uint8_t > &	id_list,
		std::vector< uint32_t > &	velocity_list
	)

pure virtual

Implemented in ttl_driver::DxlDriver< reg_type >, ttl_driver::MockDxlDriver, ttl_driver::StepperDriver< reg_type >, ttl_driver::Ned3ProStepperDriver< reg_type >, ttl_driver::MockStepperDriver, and ttl_driver::DxlDriver< reg_type >.

◆ syncWritePositionGoal()

virtual int ttl_driver::AbstractMotorDriver::syncWritePositionGoal	(	const std::vector< uint8_t > &	id_list,
		const std::vector< uint32_t > &	position_list
	)

pure virtual

Implemented in ttl_driver::DxlDriver< reg_type >, ttl_driver::MockDxlDriver, ttl_driver::StepperDriver< reg_type >, ttl_driver::Ned3ProStepperDriver< reg_type >, ttl_driver::MockStepperDriver, and ttl_driver::DxlDriver< reg_type >.

◆ syncWriteTorquePercentage()

virtual int ttl_driver::AbstractMotorDriver::syncWriteTorquePercentage	(	const std::vector< uint8_t > &	id_list,
		const std::vector< uint8_t > &	torque_percentage_list
	)

pure virtual

Implemented in ttl_driver::DxlDriver< reg_type >, ttl_driver::MockDxlDriver, ttl_driver::StepperDriver< reg_type >, ttl_driver::Ned3ProStepperDriver< reg_type >, and ttl_driver::MockStepperDriver.

◆ syncWriteVelocityGoal()

virtual int ttl_driver::AbstractMotorDriver::syncWriteVelocityGoal	(	const std::vector< uint8_t > &	id_list,
		const std::vector< uint32_t > &	velocity_list
	)

pure virtual

Implemented in ttl_driver::DxlDriver< reg_type >, ttl_driver::MockDxlDriver, ttl_driver::StepperDriver< reg_type >, ttl_driver::Ned3ProStepperDriver< reg_type >, ttl_driver::MockStepperDriver, and ttl_driver::DxlDriver< reg_type >.

◆ writeControlMode()

virtual int ttl_driver::AbstractMotorDriver::writeControlMode	(	uint8_t	id,
		uint8_t	mode
	)

pure virtual

Implemented in ttl_driver::Ned3ProStepperDriver< reg_type >, ttl_driver::StepperDriver< reg_type >, ttl_driver::MockStepperDriver, ttl_driver::MockDxlDriver, and ttl_driver::DxlDriver< reg_type >.

◆ writePositionGoal()

virtual int ttl_driver::AbstractMotorDriver::writePositionGoal	(	uint8_t	id,
		uint32_t	position
	)

pure virtual

Implemented in ttl_driver::DxlDriver< reg_type >, ttl_driver::MockDxlDriver, ttl_driver::StepperDriver< reg_type >, ttl_driver::Ned3ProStepperDriver< reg_type >, and ttl_driver::MockStepperDriver.

◆ writeTorquePercentage()

virtual int ttl_driver::AbstractMotorDriver::writeTorquePercentage	(	uint8_t	id,
		uint8_t	torque_percentage
	)

pure virtual

Implemented in ttl_driver::DxlDriver< reg_type >, ttl_driver::MockDxlDriver, ttl_driver::Ned3ProStepperDriver< reg_type >, ttl_driver::MockStepperDriver, and ttl_driver::StepperDriver< reg_type >.

◆ writeVelocityGoal()

virtual int ttl_driver::AbstractMotorDriver::writeVelocityGoal	(	uint8_t	id,
		uint32_t	velocity
	)

pure virtual

Implemented in ttl_driver::DxlDriver< reg_type >, ttl_driver::MockDxlDriver, ttl_driver::StepperDriver< reg_type >, ttl_driver::Ned3ProStepperDriver< reg_type >, and ttl_driver::MockStepperDriver.

◆ writeVelocityProfile()

virtual int ttl_driver::AbstractMotorDriver::writeVelocityProfile	(	uint8_t	id,
		const std::vector< uint32_t > &	data_list
	)

pure virtual

Implemented in ttl_driver::DxlDriver< reg_type >, ttl_driver::Ned3ProStepperDriver< reg_type >, ttl_driver::StepperDriver< reg_type >, ttl_driver::DxlDriver< reg_type >, ttl_driver::MockDxlDriver, and ttl_driver::MockStepperDriver.

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

Public Member Functions

Additional Inherited Members

Detailed Description

Constructor & Destructor Documentation

◆ AbstractMotorDriver() [1/2]

◆ AbstractMotorDriver() [2/2]

Member Function Documentation

◆ changeId()

◆ readControlMode()

◆ readMaxPosition()

◆ readMinPosition()

◆ readPosition()

◆ readVelocity()

◆ readVelocityProfile()

◆ str()

◆ syncReadJointStatus()

◆ syncReadPosition()

◆ syncReadVelocity()

◆ syncWritePositionGoal()

◆ syncWriteTorquePercentage()

◆ syncWriteVelocityGoal()

◆ writeControlMode()

◆ writePositionGoal()

◆ writeTorquePercentage()

◆ writeVelocityGoal()

◆ writeVelocityProfile()