#include <mock_stepper_driver.hpp>

Inheritance diagram for ttl_driver::MockStepperDriver:

[legend]

Public Member Functions
int	changeId (uint8_t id, uint8_t new_id) override
	MockStepperDriver::changeId. More...

int	checkModelNumber (uint8_t id) override
	MockStepperDriver::checkModelNumber. More...

int	getModelNumber (uint8_t id, uint16_t &model_number) override
	MockStepperDriver::getModelNumber. More...

	MockStepperDriver (std::shared_ptr< FakeTtlData > data)
	MockStepperDriver::MockStepperDriver. More...

int	ping (uint8_t id) override
	MockStepperDriver::ping. More...

int	readControlMode (uint8_t id, uint8_t &mode) override

int	readFirmwareRunning (uint8_t id, bool &is_running) override
	MockStepperDriver::readFirmwareRunning. More...

int	readFirmwareVersion (uint8_t id, std::string &version) override
	MockStepperDriver::readFirmwareVersion. More...

int	readHomingStatus (uint8_t id, uint8_t &status) override
	MockStepperDriver::readHomingStatus. More...

int	readHwErrorStatus (uint8_t id, uint8_t &hardware_error_status) override
	MockStepperDriver::readHwErrorStatus. More...

int	readMaxPosition (uint8_t id, uint32_t &max_pos) override
	MockStepperDriver::readMaxPosition. More...

int	readMinPosition (uint8_t id, uint32_t &min_pos) override
	MockStepperDriver::readMinPosition. More...

int	readPosition (uint8_t id, uint32_t &present_position) override
	MockStepperDriver::readPosition. More...

int	readTemperature (uint8_t id, uint8_t &temperature) override
	MockStepperDriver::readTemperature. More...

int	readVelocity (uint8_t id, uint32_t &present_velocity) override
	MockStepperDriver::readVelocity. More...

int	readVelocityProfile (uint8_t id, std::vector< uint32_t > &data_list) override
	MockStepperDriver::readVelocityProfile. More...

int	readVoltage (uint8_t id, double &voltage) override
	MockStepperDriver::readVoltage. More...

int	reboot (uint8_t id) override
	MockStepperDriver::reboot. More...

int	scan (std::vector< uint8_t > &id_list) override
	MockStepperDriver::scan. More...

int	startHoming (uint8_t id) override
	MockStepperDriver::startHoming. More...

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

int	syncReadFirmwareVersion (const std::vector< uint8_t > &id_list, std::vector< std::string > &firmware_list) override
	MockStepperDriver::syncReadFirmwareVersion. More...

int	syncReadHomingAbsPosition (const std::vector< uint8_t > &id_list, std::vector< uint32_t > &abs_position) override
	MockStepperDriver::syncReadHomingAbsPosition. More...

int	syncReadHomingStatus (const std::vector< uint8_t > &id_list, std::vector< uint8_t > &status_list) override
	MockStepperDriver::syncReadHomingStatus. More...

int	syncReadHwErrorStatus (const std::vector< uint8_t > &id_list, std::vector< uint8_t > &hw_error_list) override
	MockStepperDriver::syncReadHwErrorStatus. More...

int	syncReadHwStatus (const std::vector< uint8_t > &id_list, std::vector< std::pair< double, uint8_t > > &data_list) override
	MockStepperDriver::syncReadHwStatus. More...

int	syncReadJointStatus (const std::vector< uint8_t > &id_list, std::vector< std::array< uint32_t, 2 > > &data_array) override
	StepperDriver::syncReadJointStatus. More...

int	syncReadPosition (const std::vector< uint8_t > &id_list, std::vector< uint32_t > &position_list) override
	MockStepperDriver::syncReadPosition. More...

int	syncReadRawVoltage (const std::vector< uint8_t > &id_list, std::vector< double > &voltage_list) override
	MockStepperDriver::syncReadVoltage. More...

int	syncReadTemperature (const std::vector< uint8_t > &id_list, std::vector< uint8_t > &temperature_list) override
	MockStepperDriver::syncReadTemperature. More...

int	syncReadVelocity (const std::vector< uint8_t > &id_list, std::vector< uint32_t > &velocity_list) override
	MockStepperDriver::syncReadVelocity. More...

int	syncReadVoltage (const std::vector< uint8_t > &id_list, std::vector< double > &voltage_list) override
	MockStepperDriver::syncReadVoltage. More...

int	syncWriteHomingAbsPosition (const std::vector< uint8_t > &id_list, const std::vector< uint32_t > &abs_position) override
	MockStepperDriver::syncWriteHomingAbsPosition. More...

int	syncWritePositionGoal (const std::vector< uint8_t > &id_list, const std::vector< uint32_t > &position_list) override
	MockStepperDriver::syncWritePositionGoal. More...

int	syncWriteTorquePercentage (const std::vector< uint8_t > &id_list, const std::vector< uint8_t > &torque_percentage_list) override
	MockStepperDriver::syncWriteTorquePercentage. More...

int	syncWriteVelocityGoal (const std::vector< uint8_t > &id_list, const std::vector< uint32_t > &velocity_list) override
	MockStepperDriver::syncWriteVelocityGoal. More...

float	velocityUnit () const override
	writeVelocityGoal: define the unit of the velocity in RPM More...

int	writeControlMode (uint8_t id, uint8_t mode) override

int	writeHomingSetup (uint8_t id, uint8_t direction, uint8_t stall_threshold) override
	MockStepperDriver::writeHomingDirection. More...

int	writePositionGoal (uint8_t id, uint32_t position) override
	MockStepperDriver::writePositionGoal. More...

int	writeTorquePercentage (uint8_t id, uint8_t torque_percentage) override
	MockStepperDriver::writeTorquePercentage. More...

int	writeVelocityGoal (uint8_t id, uint32_t velocity) override
	MockStepperDriver::writeVelocityGoal. More...

int	writeVelocityProfile (uint8_t id, const std::vector< uint32_t > &data) override
	MockStepperDriver::writeVelocityProfile. More...

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

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

virtual int	factoryCalibration (const uint8_t id, const uint32_t &command)
	AbstractStepperDriver::factoryCalibration. More...

std::string	interpretErrorState (uint32_t hw_state) const override
	AbstractStepperDriver::interpretErrorState. More...

virtual common::model::EStepperCalibrationStatus	interpretHomingData (uint8_t status) const
	AbstractStepperDriver::interpretHomingData. More...

int	readConveyorVelocity (uint8_t id, int32_t &velocity, int32_t &direction)
	Returns the velocity of the conveyor in percentage. More...

int	writeSingleCmd (const std::unique_ptr< common::model::AbstractTtlSingleMotorCmd > &cmd) override
	AbstractStepperDriver::writeSingleCmd. More...

int	writeSyncCmd (int type, const std::vector< uint8_t > &ids, const std::vector< uint32_t > &params) override
	AbstractStepperDriver::writeSyncCmd. More...

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

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

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

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

virtual	~AbstractTtlDriver ()=default

Private Member Functions
bool	init ()
	MockStepperDriver::init. More...

Private Attributes
uint8_t	_calibration_status {CALIBRATION_IDLE}

std::shared_ptr< FakeTtlData >	_fake_data

int	_fake_time {0}

std::vector< uint8_t >	_id_list

Static Private Attributes
static constexpr int	CALIBRATION_ERROR = 3

static constexpr int	CALIBRATION_IDLE = 0

static constexpr int	CALIBRATION_IN_PROGRESS = 1

static constexpr int	CALIBRATION_SUCCESS = 2

static constexpr int	GROUP_SYNC_REDONDANT_ID = 10

static constexpr int	LEN_ID_DATA_NOT_SAME = 20

Additional Inherited Members
Protected Member Functions inherited from ttl_driver::AbstractStepperDriver
std::string	interpretFirmwareVersion (uint32_t fw_version) const override
	AbstractStepperDriver::interpretFirmwareVersion. More...

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

	AbstractTtlDriver (const AbstractTtlDriver &)=default

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 StepperDriver class.

Definition at line 36 of file mock_stepper_driver.hpp.

Constructor & Destructor Documentation

◆ MockStepperDriver()

ttl_driver::MockStepperDriver::MockStepperDriver ( std::shared_ptr< FakeTtlData > data )

MockStepperDriver::MockStepperDriver.

Parameters

data

Definition at line 39 of file mock_stepper_driver.cpp.

Member Function Documentation

◆ changeId()

int ttl_driver::MockStepperDriver::changeId	(	uint8_t	id,
		uint8_t	new_id
	)

overridevirtual

MockStepperDriver::changeId.

Parameters

id
new_id

Returns

Implements ttl_driver::AbstractMotorDriver.

Definition at line 136 of file mock_stepper_driver.cpp.

◆ checkModelNumber()

int ttl_driver::MockStepperDriver::checkModelNumber ( uint8_t id )

overridevirtual

MockStepperDriver::checkModelNumber.

Parameters

id

Returns

Implements ttl_driver::AbstractTtlDriver.

Definition at line 103 of file mock_stepper_driver.cpp.

◆ getModelNumber()

int ttl_driver::MockStepperDriver::getModelNumber	(	uint8_t	id,
		uint16_t &	model_number
	)

overridevirtual

MockStepperDriver::getModelNumber.

Parameters

id
model_number

Returns

Reimplemented from ttl_driver::AbstractTtlDriver.

Definition at line 91 of file mock_stepper_driver.cpp.

◆ init()

bool ttl_driver::MockStepperDriver::init ( )

private

MockStepperDriver::init.

Returns

Definition at line 45 of file mock_stepper_driver.cpp.

◆ ping()

int ttl_driver::MockStepperDriver::ping ( uint8_t id )

overridevirtual

MockStepperDriver::ping.

Parameters

id

Returns

Reimplemented from ttl_driver::AbstractTtlDriver.

Definition at line 78 of file mock_stepper_driver.cpp.

◆ readControlMode()

int ttl_driver::MockStepperDriver::readControlMode	(	uint8_t	id,
		uint8_t &	mode
	)

overridevirtual

Implements ttl_driver::AbstractMotorDriver.

Definition at line 674 of file mock_stepper_driver.cpp.

◆ readFirmwareRunning()

int ttl_driver::MockStepperDriver::readFirmwareRunning	(	uint8_t	id,
		bool &	is_running
	)

overridevirtual

MockStepperDriver::readFirmwareRunning.

Parameters

id
is_running

Returns

Implements ttl_driver::AbstractStepperDriver.

Definition at line 828 of file mock_stepper_driver.cpp.

◆ readFirmwareVersion()

int ttl_driver::MockStepperDriver::readFirmwareVersion	(	uint8_t	id,
		std::string &	version
	)

overridevirtual

MockStepperDriver::readFirmwareVersion.

Parameters

id
version

Returns

Implements ttl_driver::AbstractTtlDriver.

Definition at line 168 of file mock_stepper_driver.cpp.

◆ readHomingStatus()

int ttl_driver::MockStepperDriver::readHomingStatus	(	uint8_t	id,
		uint8_t &	status
	)

overridevirtual

MockStepperDriver::readHomingStatus.

Parameters

id
status

Returns

Implements ttl_driver::AbstractStepperDriver.

Definition at line 777 of file mock_stepper_driver.cpp.

◆ readHwErrorStatus()

int ttl_driver::MockStepperDriver::readHwErrorStatus	(	uint8_t	id,
		uint8_t &	hardware_error_status
	)

overridevirtual

MockStepperDriver::readHwErrorStatus.

Parameters

id
hardware_error_status

Returns

Implements ttl_driver::AbstractTtlDriver.

Definition at line 392 of file mock_stepper_driver.cpp.

◆ readMaxPosition()

int ttl_driver::MockStepperDriver::readMaxPosition	(	uint8_t	id,
		uint32_t &	pos
	)

overridevirtual

MockStepperDriver::readMaxPosition.

Parameters

id
pos

Returns

Implements ttl_driver::AbstractMotorDriver.

Definition at line 198 of file mock_stepper_driver.cpp.

◆ readMinPosition()

int ttl_driver::MockStepperDriver::readMinPosition	(	uint8_t	id,
		uint32_t &	pos
	)

overridevirtual

MockStepperDriver::readMinPosition.

Parameters

id
pos

Returns

Implements ttl_driver::AbstractMotorDriver.

Definition at line 183 of file mock_stepper_driver.cpp.

◆ readPosition()

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

overridevirtual

MockStepperDriver::readPosition.

Parameters

id
present_position

Returns

Implements ttl_driver::AbstractMotorDriver.

Definition at line 334 of file mock_stepper_driver.cpp.

◆ readTemperature()

int ttl_driver::MockStepperDriver::readTemperature	(	uint8_t	id,
		uint8_t &	temperature
	)

overridevirtual

MockStepperDriver::readTemperature.

Parameters

id
temperature

Returns

Implements ttl_driver::AbstractTtlDriver.

Definition at line 362 of file mock_stepper_driver.cpp.

◆ readVelocity()

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

overridevirtual

MockStepperDriver::readVelocity.

Parameters

id
present_velocity

Returns

Implements ttl_driver::AbstractMotorDriver.

Definition at line 349 of file mock_stepper_driver.cpp.

◆ readVelocityProfile()

int ttl_driver::MockStepperDriver::readVelocityProfile	(	uint8_t	id,
		std::vector< uint32_t > &	data
	)

overridevirtual

MockStepperDriver::readVelocityProfile.

Parameters

id
data

Returns

Implements ttl_driver::AbstractMotorDriver.

Definition at line 698 of file mock_stepper_driver.cpp.

◆ readVoltage()

int ttl_driver::MockStepperDriver::readVoltage	(	uint8_t	id,
		double &	voltage
	)

overridevirtual

MockStepperDriver::readVoltage.

Parameters

id
voltage

Returns

Implements ttl_driver::AbstractTtlDriver.

Definition at line 377 of file mock_stepper_driver.cpp.

◆ reboot()

int ttl_driver::MockStepperDriver::reboot ( uint8_t id )

overridevirtual

MockStepperDriver::reboot.

Parameters

id

Returns

Reimplemented from ttl_driver::AbstractTtlDriver.

Definition at line 128 of file mock_stepper_driver.cpp.

◆ scan()

int ttl_driver::MockStepperDriver::scan ( std::vector< uint8_t > & id_list )

overridevirtual

MockStepperDriver::scan.

Parameters

id_list

Returns

Reimplemented from ttl_driver::AbstractTtlDriver.

Definition at line 116 of file mock_stepper_driver.cpp.

◆ startHoming()

int ttl_driver::MockStepperDriver::startHoming ( uint8_t id )

overridevirtual

MockStepperDriver::startHoming.

Parameters

id

Returns

Implements ttl_driver::AbstractStepperDriver.

Definition at line 752 of file mock_stepper_driver.cpp.

◆ str()

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

overridevirtual

MockStepperDriver::str.

Returns

Reimplemented from ttl_driver::AbstractStepperDriver.

Definition at line 68 of file mock_stepper_driver.cpp.

◆ syncReadFirmwareVersion()

int ttl_driver::MockStepperDriver::syncReadFirmwareVersion	(	const std::vector< uint8_t > &	id_list,
		std::vector< std::string > &	firmware_list
	)

overridevirtual

MockStepperDriver::syncReadFirmwareVersion.

Parameters

id_list
firmware_list

Returns

Implements ttl_driver::AbstractTtlDriver.

Definition at line 499 of file mock_stepper_driver.cpp.

◆ syncReadHomingAbsPosition()

int ttl_driver::MockStepperDriver::syncReadHomingAbsPosition	(	const std::vector< uint8_t > &	id_list,
		std::vector< uint32_t > &	abs_position
	)

overridevirtual

MockStepperDriver::syncReadHomingAbsPosition.

Parameters

id_list
abs_position

Returns

Implements ttl_driver::AbstractStepperDriver.

Definition at line 843 of file mock_stepper_driver.cpp.

◆ syncReadHomingStatus()

int ttl_driver::MockStepperDriver::syncReadHomingStatus	(	const std::vector< uint8_t > &	id_list,
		std::vector< uint8_t > &	status_list
	)

overridevirtual

MockStepperDriver::syncReadHomingStatus.

Parameters

id_list
status_list

Returns

Implements ttl_driver::AbstractStepperDriver.

Definition at line 799 of file mock_stepper_driver.cpp.

◆ syncReadHwErrorStatus()

int ttl_driver::MockStepperDriver::syncReadHwErrorStatus	(	const std::vector< uint8_t > &	id_list,
		std::vector< uint8_t > &	hw_error_list
	)

overridevirtual

MockStepperDriver::syncReadHwErrorStatus.

Parameters

id_list
hw_error_list

Returns

Implements ttl_driver::AbstractTtlDriver.

Definition at line 655 of file mock_stepper_driver.cpp.

◆ syncReadHwStatus()

int ttl_driver::MockStepperDriver::syncReadHwStatus	(	const std::vector< uint8_t > &	id_list,
		std::vector< std::pair< double, uint8_t > > &	data_list
	)

overridevirtual

MockStepperDriver::syncReadHwStatus.

Parameters

id_list
data_list

Returns

Implements ttl_driver::AbstractTtlDriver.

Definition at line 613 of file mock_stepper_driver.cpp.

◆ syncReadJointStatus()

int ttl_driver::MockStepperDriver::syncReadJointStatus	(	const std::vector< uint8_t > &	id_list,
		std::vector< std::array< uint32_t, 2 > > &	data_array
	)

overridevirtual

StepperDriver::syncReadJointStatus.

Parameters

id_list
data_array_list

Returns

Implements ttl_driver::AbstractMotorDriver.

Definition at line 458 of file mock_stepper_driver.cpp.

◆ syncReadPosition()

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

overridevirtual

MockStepperDriver::syncReadPosition.

Parameters

id_list
position_list

Returns

Implements ttl_driver::AbstractMotorDriver.

Definition at line 404 of file mock_stepper_driver.cpp.

◆ syncReadRawVoltage()

int ttl_driver::MockStepperDriver::syncReadRawVoltage	(	const std::vector< uint8_t > &	id_list,
		std::vector< double > &	voltage_list
	)

overridevirtual

MockStepperDriver::syncReadVoltage.

Parameters

id_list
voltage_list

Returns

Implements ttl_driver::AbstractTtlDriver.

Definition at line 584 of file mock_stepper_driver.cpp.

◆ syncReadTemperature()

int ttl_driver::MockStepperDriver::syncReadTemperature	(	const std::vector< uint8_t > &	id_list,
		std::vector< uint8_t > &	temperature_list
	)

overridevirtual

MockStepperDriver::syncReadTemperature.

Parameters

id_list
temperature_list

Returns

Implements ttl_driver::AbstractTtlDriver.

Definition at line 526 of file mock_stepper_driver.cpp.

◆ syncReadVelocity()

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

overridevirtual

MockStepperDriver::syncReadVelocity.

Parameters

id_list
velocity_list

Returns

Implements ttl_driver::AbstractMotorDriver.

Definition at line 431 of file mock_stepper_driver.cpp.

◆ syncReadVoltage()

int ttl_driver::MockStepperDriver::syncReadVoltage	(	const std::vector< uint8_t > &	id_list,
		std::vector< double > &	voltage_list
	)

overridevirtual

MockStepperDriver::syncReadVoltage.

Parameters

id_list
voltage_list

Returns

Implements ttl_driver::AbstractTtlDriver.

Definition at line 555 of file mock_stepper_driver.cpp.

◆ syncWriteHomingAbsPosition()

int ttl_driver::MockStepperDriver::syncWriteHomingAbsPosition	(	const std::vector< uint8_t > &	id_list,
		const std::vector< uint32_t > &	abs_position
	)

overridevirtual

MockStepperDriver::syncWriteHomingAbsPosition.

Parameters

id_list
abs_position

Returns

Implements ttl_driver::AbstractStepperDriver.

Definition at line 868 of file mock_stepper_driver.cpp.

◆ syncWritePositionGoal()

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

overridevirtual

MockStepperDriver::syncWritePositionGoal.

Parameters

id_list
position_list

Returns

Implements ttl_driver::AbstractMotorDriver.

Definition at line 281 of file mock_stepper_driver.cpp.

◆ syncWriteTorquePercentage()

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

overridevirtual

MockStepperDriver::syncWriteTorquePercentage.

Parameters

id_list
torque_percentage_list

Returns

Implements ttl_driver::AbstractMotorDriver.

Definition at line 260 of file mock_stepper_driver.cpp.

◆ syncWriteVelocityGoal()

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

overridevirtual

MockStepperDriver::syncWriteVelocityGoal.

Parameters

id_list
velocity_list

Returns

Implements ttl_driver::AbstractMotorDriver.

Definition at line 311 of file mock_stepper_driver.cpp.

◆ velocityUnit()

float ttl_driver::MockStepperDriver::velocityUnit ( ) const

overridevirtual

writeVelocityGoal: define the unit of the velocity in RPM

Implements ttl_driver::AbstractStepperDriver.

Definition at line 890 of file mock_stepper_driver.cpp.

◆ writeControlMode()

int ttl_driver::MockStepperDriver::writeControlMode	(	uint8_t	id,
		uint8_t	mode
	)

overridevirtual

Implements ttl_driver::AbstractMotorDriver.

Definition at line 683 of file mock_stepper_driver.cpp.

◆ writeHomingSetup()

int ttl_driver::MockStepperDriver::writeHomingSetup	(	uint8_t	id,
		uint8_t	direction,
		uint8_t	stall_threshold
	)

overridevirtual

MockStepperDriver::writeHomingDirection.

Parameters

id
direction
stall_threshold

Returns

Implements ttl_driver::AbstractStepperDriver.

Definition at line 769 of file mock_stepper_driver.cpp.

◆ writePositionGoal()

int ttl_driver::MockStepperDriver::writePositionGoal	(	uint8_t	id,
		uint32_t	position
	)

overridevirtual

MockStepperDriver::writePositionGoal.

Parameters

id
position

Returns

Implements ttl_driver::AbstractMotorDriver.

Definition at line 229 of file mock_stepper_driver.cpp.

◆ writeTorquePercentage()

int ttl_driver::MockStepperDriver::writeTorquePercentage	(	uint8_t	id,
		uint8_t	torque_percentage
	)

overridevirtual

MockStepperDriver::writeTorquePercentage.

Parameters

id
torque_enable

Returns

Implements ttl_driver::AbstractMotorDriver.

Definition at line 215 of file mock_stepper_driver.cpp.

◆ writeVelocityGoal()

int ttl_driver::MockStepperDriver::writeVelocityGoal	(	uint8_t	id,
		uint32_t	velocity
	)

overridevirtual

MockStepperDriver::writeVelocityGoal.

Parameters

id
velocity

Returns

Implements ttl_driver::AbstractMotorDriver.

Definition at line 245 of file mock_stepper_driver.cpp.

◆ writeVelocityProfile()

int ttl_driver::MockStepperDriver::writeVelocityProfile	(	uint8_t	id,
		const std::vector< uint32_t > &	data
	)

overridevirtual

MockStepperDriver::writeVelocityProfile.

Parameters

id
data

Returns

constexpr int ttl_driver::MockStepperDriver::LEN_ID_DATA_NOT_SAME = 20

staticconstexprprivate

Definition at line 124 of file mock_stepper_driver.hpp.

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

Public Member Functions

Private Member Functions

Private Attributes

Static Private Attributes

Additional Inherited Members

Detailed Description

Constructor & Destructor Documentation

◆ MockStepperDriver()

Member Function Documentation

◆ changeId()

◆ checkModelNumber()

◆ getModelNumber()

◆ init()

◆ ping()

◆ readControlMode()

◆ readFirmwareRunning()

◆ readFirmwareVersion()

◆ readHomingStatus()

◆ readHwErrorStatus()

◆ readMaxPosition()

◆ readMinPosition()

◆ readPosition()

◆ readTemperature()

◆ readVelocity()

◆ readVelocityProfile()

◆ readVoltage()

◆ reboot()

◆ scan()

◆ startHoming()

◆ str()

◆ syncReadFirmwareVersion()

◆ syncReadHomingAbsPosition()

◆ syncReadHomingStatus()

◆ syncReadHwErrorStatus()

◆ syncReadHwStatus()

◆ syncReadJointStatus()

◆ syncReadPosition()

◆ syncReadRawVoltage()

◆ syncReadTemperature()

◆ syncReadVelocity()

◆ syncReadVoltage()

◆ syncWriteHomingAbsPosition()

◆ syncWritePositionGoal()

◆ syncWriteTorquePercentage()

◆ syncWriteVelocityGoal()

◆ velocityUnit()

◆ writeControlMode()

◆ writeHomingSetup()

◆ writePositionGoal()

◆ writeTorquePercentage()

◆ writeVelocityGoal()

◆ writeVelocityProfile()

Member Data Documentation

◆ _calibration_status

◆ _fake_data

◆ _fake_time

◆ _id_list

◆ CALIBRATION_ERROR

◆ CALIBRATION_IDLE

◆ CALIBRATION_IN_PROGRESS

◆ CALIBRATION_SUCCESS

◆ GROUP_SYNC_REDONDANT_ID

◆ LEN_ID_DATA_NOT_SAME