#include <stepper_driver.hpp>

Inheritance diagram for ttl_driver::StepperDriver< reg_type >:

[legend]

Public Member Functions
int	changeId (uint8_t id, uint8_t new_id) override
	StepperDriver<reg_type>::changeId. More...

int	checkModelNumber (uint8_t id) override
	StepperDriver<reg_type>::checkModelNumber. More...

int	readControlMode (uint8_t id, uint8_t &operating_mode) override

int	readFirmwareRunning (uint8_t id, bool &is_running) override
	StepperDriver<reg_type>::readFirmwareRunning. More...

int	readFirmwareVersion (uint8_t id, std::string &version) override
	StepperDriver<reg_type>::readFirmwareVersion. More...

int	readHomingStatus (uint8_t id, uint8_t &status) override
	StepperDriver<reg_type>::readHomingStatus. More...

int	readHwErrorStatus (uint8_t id, uint8_t &hardware_error_status) override
	StepperDriver<reg_type>::readHwErrorStatus. More...

int	readMaxPosition (uint8_t id, uint32_t &max_pos) override
	StepperDriver<reg_type>::readMaxPosition. More...

int	readMinPosition (uint8_t id, uint32_t &min_pos) override
	StepperDriver<reg_type>::readMinPosition. More...

int	readPosition (uint8_t id, uint32_t &present_position) override
	StepperDriver<reg_type>::readPosition. More...

int	readTemperature (uint8_t id, uint8_t &temperature) override
	StepperDriver<reg_type>::readTemperature. More...

int	readVelocity (uint8_t id, uint32_t &present_velocity) override
	StepperDriver<reg_type>::readVelocity. More...

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

int	readVoltage (uint8_t id, double &voltage) override
	StepperDriver<reg_type>::readVoltage. More...

int	startHoming (uint8_t id) override
	StepperDriver<reg_type>::startHoming. More...

	StepperDriver (std::shared_ptr< dynamixel::PortHandler > portHandler, std::shared_ptr< dynamixel::PacketHandler > packetHandler)
	DxlDriver<reg_type>::DxlDriver. More...

std::string	str () const override
	StepperDriver<reg_type>::str. More...

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

int	writeControlMode (uint8_t id, uint8_t operating_mode)

int	writeHomingSetup (uint8_t id, uint8_t direction, uint8_t stall_threshold) override
	StepperDriver<reg_type>::writeHomingDirection. More...

int	writePositionGoal (uint8_t id, uint32_t position) override
	StepperDriver<reg_type>::writePositionGoal. More...

int	writeTorquePercentage (uint8_t id, uint8_t torque_enable) override
	StepperDriver<reg_type>::writeTorquePercentage. More...

int	writeVelocityGoal (uint8_t id, uint32_t velocity) override
	StepperDriver<reg_type>::writeVelocityGoal. More...

int	writeVelocityProfile (uint8_t id, const std::vector< uint32_t > &data_list) override
	StepperDriver<reg_type>::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)

virtual int	syncReadJointStatus (const std::vector< uint8_t > &id_list, std::vector< std::array< uint32_t, 2 > > &data_array_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	getModelNumber (uint8_t id, uint16_t &model_number)
	AbstractTtlDriver::getModelNumber. More...

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

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

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

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
int	writeA1 (uint8_t id, uint32_t a_1)
	StepperDriver<reg_type>::writeA1. More...

int	writeAMax (uint8_t id, uint32_t a_max)
	StepperDriver<reg_type>::writeAMax. More...

int	writeD1 (uint8_t id, uint32_t d_1)
	StepperDriver<reg_type>::writeD1. More...

int	writeDMax (uint8_t id, uint32_t d_max)
	StepperDriver<reg_type>::writeDMax. More...

int	writeV1 (uint8_t id, uint32_t v_1)
	StepperDriver<reg_type>::writeV1. More...

int	writeVMax (uint8_t id, uint32_t v_max)
	StepperDriver<reg_type>::writeVMax. More...

int	writeVStart (uint8_t id, uint32_t v_start)
	StepperDriver<reg_type>::writeVStart. More...

int	writeVStop (uint8_t id, uint32_t v_stop)
	StepperDriver<reg_type>::writeVStop. More...

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

template<typename reg_type = StepperReg>
class ttl_driver::StepperDriver< reg_type >

The StepperDriver class.

Definition at line 38 of file stepper_driver.hpp.

Constructor & Destructor Documentation

◆ StepperDriver()

template<typename reg_type >

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

DxlDriver<reg_type>::DxlDriver.

Definition at line 127 of file stepper_driver.hpp.

Member Function Documentation

◆ changeId()

template<typename reg_type >

int ttl_driver::StepperDriver< reg_type >::changeId	(	uint8_t	id,
		uint8_t	new_id
	)

overridevirtual

StepperDriver<reg_type>::changeId.

Parameters

id
new_id

Returns

Implements ttl_driver::AbstractMotorDriver.

Definition at line 154 of file stepper_driver.hpp.

◆ checkModelNumber()

template<typename reg_type >

int ttl_driver::StepperDriver< reg_type >::checkModelNumber ( uint8_t id )

overridevirtual

StepperDriver<reg_type>::checkModelNumber.

Parameters

id

Returns

Implements ttl_driver::AbstractTtlDriver.

Definition at line 170 of file stepper_driver.hpp.

◆ readControlMode()

template<typename reg_type >

int ttl_driver::StepperDriver< reg_type >::readControlMode	(	uint8_t	id,
		uint8_t &	operating_mode
	)

overridevirtual

Implements ttl_driver::AbstractMotorDriver.

Definition at line 549 of file stepper_driver.hpp.

◆ readFirmwareRunning()

template<typename reg_type >

int ttl_driver::StepperDriver< reg_type >::readFirmwareRunning	(	uint8_t	id,
		bool &	is_running
	)

overridevirtual

StepperDriver<reg_type>::readFirmwareRunning.

Parameters

id
is_running

Returns

Implements ttl_driver::AbstractStepperDriver.

Definition at line 788 of file stepper_driver.hpp.

◆ readFirmwareVersion()

template<typename reg_type >

int ttl_driver::StepperDriver< reg_type >::readFirmwareVersion	(	uint8_t	id,
		std::string &	version
	)

overridevirtual

StepperDriver<reg_type>::readFirmwareVersion.

Parameters

id
version

Returns

Implements ttl_driver::AbstractTtlDriver.

Definition at line 193 of file stepper_driver.hpp.

◆ readHomingStatus()

template<typename reg_type >

int ttl_driver::StepperDriver< reg_type >::readHomingStatus	(	uint8_t	id,
		uint8_t &	status
	)

overridevirtual

StepperDriver<reg_type>::readHomingStatus.

Parameters

id
status

Returns

Implements ttl_driver::AbstractStepperDriver.

Definition at line 764 of file stepper_driver.hpp.

◆ readHwErrorStatus()

template<typename reg_type >

int ttl_driver::StepperDriver< reg_type >::readHwErrorStatus	(	uint8_t	id,
		uint8_t &	hardware_error_status
	)

overridevirtual

StepperDriver<reg_type>::readHwErrorStatus.

Parameters

id
hardware_error_status

Returns

Implements ttl_driver::AbstractTtlDriver.

Definition at line 368 of file stepper_driver.hpp.

◆ readMaxPosition()

template<typename reg_type >

int ttl_driver::StepperDriver< reg_type >::readMaxPosition	(	uint8_t	id,
		uint32_t &	pos
	)

overridevirtual

StepperDriver<reg_type>::readMaxPosition.

Parameters

id
pos

Returns

Implements ttl_driver::AbstractMotorDriver.

Definition at line 221 of file stepper_driver.hpp.

◆ readMinPosition()

template<typename reg_type >

int ttl_driver::StepperDriver< reg_type >::readMinPosition	(	uint8_t	id,
		uint32_t &	pos
	)

overridevirtual

StepperDriver<reg_type>::readMinPosition.

Parameters

id
pos

Returns

Implements ttl_driver::AbstractMotorDriver.

Definition at line 209 of file stepper_driver.hpp.

◆ readPosition()

template<typename reg_type >

int ttl_driver::StepperDriver< reg_type >::readPosition	(	uint8_t	id,
		uint32_t &	present_position
	)

overridevirtual

StepperDriver<reg_type>::readPosition.

Parameters

id
present_position

Returns

Implements ttl_driver::AbstractMotorDriver.

Definition at line 317 of file stepper_driver.hpp.

◆ readTemperature()

template<typename reg_type >

int ttl_driver::StepperDriver< reg_type >::readTemperature	(	uint8_t	id,
		uint8_t &	temperature
	)

overridevirtual

StepperDriver<reg_type>::readTemperature.

Parameters

id
temperature

Returns

Implements ttl_driver::AbstractTtlDriver.

Definition at line 341 of file stepper_driver.hpp.

◆ readVelocity()

template<typename reg_type >

int ttl_driver::StepperDriver< reg_type >::readVelocity	(	uint8_t	id,
		uint32_t &	present_velocity
	)

overridevirtual

StepperDriver<reg_type>::readVelocity.

Parameters

id
present_velocity

Returns

Implements ttl_driver::AbstractMotorDriver.

Definition at line 329 of file stepper_driver.hpp.

◆ readVelocityProfile()

template<typename reg_type >

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

overridevirtual

StepperDriver::readVelocityProfile.

Parameters

id
data_list

Returns

Implements ttl_driver::AbstractMotorDriver.

Definition at line 567 of file stepper_driver.hpp.

◆ readVoltage()

template<typename reg_type >

int ttl_driver::StepperDriver< reg_type >::readVoltage	(	uint8_t	id,
		double &	voltage
	)

overridevirtual

StepperDriver<reg_type>::readVoltage.

Parameters

id
voltage

Returns

Implements ttl_driver::AbstractTtlDriver.

Definition at line 353 of file stepper_driver.hpp.

◆ startHoming()

template<typename reg_type >

int ttl_driver::StepperDriver< reg_type >::startHoming ( uint8_t id )

overridevirtual

StepperDriver<reg_type>::startHoming.

Parameters

id

Returns

Implements ttl_driver::AbstractStepperDriver.

Definition at line 716 of file stepper_driver.hpp.

◆ str()

template<typename reg_type >

std::string ttl_driver::StepperDriver< reg_type >::str

overridevirtual

StepperDriver<reg_type>::str.

Returns

Reimplemented from ttl_driver::AbstractStepperDriver.

Definition at line 142 of file stepper_driver.hpp.

◆ syncReadFirmwareVersion()

template<typename reg_type >

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

overridevirtual

StepperDriver<reg_type>::syncReadFirmwareVersion.

Parameters

id_list
firmware_list

Returns

Implements ttl_driver::AbstractTtlDriver.

Definition at line 446 of file stepper_driver.hpp.

◆ syncReadHomingAbsPosition()

template<typename reg_type >

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

overridevirtual

StepperDriver<reg_type>::syncReadHomingAbsPosition.

Parameters

id
abs_position

Returns

Implements ttl_driver::AbstractStepperDriver.

Definition at line 815 of file stepper_driver.hpp.

◆ syncReadHomingStatus()

template<typename reg_type >

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

overridevirtual

StepperDriver<reg_type>::syncReadHomingStatus.

Parameters

id_list
status_list

Returns

Implements ttl_driver::AbstractStepperDriver.

Definition at line 776 of file stepper_driver.hpp.

◆ syncReadHwErrorStatus()

template<typename reg_type >

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

overridevirtual

StepperDriver<reg_type>::syncReadHwErrorStatus.

Parameters

id_list
hw_error_list

Returns

Implements ttl_driver::AbstractTtlDriver.

Definition at line 539 of file stepper_driver.hpp.

◆ syncReadHwStatus()

template<typename reg_type >

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

override

StepperDriver<reg_type>::syncReadHwStatus.

Parameters

id_list
data_list

Returns

Definition at line 510 of file stepper_driver.hpp.

◆ syncReadJointStatus()

template<typename reg_type >

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

override

StepperDriver<reg_type>::syncReadJointStatus.

Parameters

id_list
data_array_list

Returns: reads both position and velocity if torque is enabled. Reads only position otherwise

Definition at line 405 of file stepper_driver.hpp.

◆ syncReadPosition()

template<typename reg_type >

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

overridevirtual

StepperDriver<reg_type>::syncReadPosition.

Parameters

id_list
position_list

Returns

Implements ttl_driver::AbstractMotorDriver.

Definition at line 380 of file stepper_driver.hpp.

◆ syncReadRawVoltage()

template<typename reg_type >

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

overridevirtual

StepperDriver<reg_type>::syncReadRawVoltage.

Parameters

id_list
voltage_list

Returns

Implements ttl_driver::AbstractTtlDriver.

Definition at line 493 of file stepper_driver.hpp.

◆ syncReadTemperature()

template<typename reg_type >

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

overridevirtual

StepperDriver<reg_type>::syncReadTemperature.

Parameters

id_list
temperature_list

Returns

Implements ttl_driver::AbstractTtlDriver.

Definition at line 464 of file stepper_driver.hpp.

◆ syncReadVelocity()

template<typename reg_type >

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

overridevirtual

StepperDriver<reg_type>::syncReadVelocity.

Parameters

id_list
velocity_list

Returns

Implements ttl_driver::AbstractMotorDriver.

Definition at line 392 of file stepper_driver.hpp.

◆ syncReadVoltage()

template<typename reg_type >

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

overridevirtual

StepperDriver<reg_type>::syncReadVoltage.

Parameters

id_list
voltage_list

Returns

Implements ttl_driver::AbstractTtlDriver.

Definition at line 476 of file stepper_driver.hpp.

◆ syncWriteHomingAbsPosition()

template<typename reg_type >

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

overridevirtual

StepperDriver<reg_type>::syncWriteHomingAbsPosition.

Parameters

id
abs_position

Returns

Implements ttl_driver::AbstractStepperDriver.

Definition at line 803 of file stepper_driver.hpp.

◆ syncWritePositionGoal()

template<typename reg_type >

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

overridevirtual

StepperDriver<reg_type>::syncWritePositionGoal.

Parameters

id_list
position_list

Returns

Implements ttl_driver::AbstractMotorDriver.

Definition at line 291 of file stepper_driver.hpp.

◆ syncWriteTorquePercentage()

template<typename reg_type >

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

overridevirtual

StepperDriver<reg_type>::syncWriteTorquePercentage.

Parameters

id_list
torque_percentage_list

Returns

Implements ttl_driver::AbstractMotorDriver.

Definition at line 273 of file stepper_driver.hpp.

◆ syncWriteVelocityGoal()

template<typename reg_type >

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

overridevirtual

StepperDriver<reg_type>::syncWriteVelocityGoal.

Parameters

id_list
velocity_list

Returns

Implements ttl_driver::AbstractMotorDriver.

Definition at line 303 of file stepper_driver.hpp.

◆ velocityUnit()

template<typename reg_type >

float ttl_driver::StepperDriver< reg_type >::velocityUnit ( ) const

virtual

writeVelocityGoal: define the unit of the velocity in RPM

Implements ttl_driver::AbstractStepperDriver.

Definition at line 919 of file stepper_driver.hpp.

◆ writeA1()

template<typename reg_type >

int ttl_driver::StepperDriver< reg_type >::writeA1	(	uint8_t	id,
		uint32_t	a_1
	)

private

StepperDriver<reg_type>::writeA1.

Parameters

id
a_1

Returns

Definition at line 841 of file stepper_driver.hpp.

◆ writeAMax()

template<typename reg_type >

int ttl_driver::StepperDriver< reg_type >::writeAMax	(	uint8_t	id,
		uint32_t	a_max
	)

private

StepperDriver<reg_type>::writeAMax.

Parameters

id
a_max

Returns

Definition at line 865 of file stepper_driver.hpp.

◆ writeControlMode()

template<typename reg_type >

int ttl_driver::StepperDriver< reg_type >::writeControlMode	(	uint8_t	id,
		uint8_t	operating_mode
	)

virtual

Implements ttl_driver::AbstractMotorDriver.

Definition at line 555 of file stepper_driver.hpp.

◆ writeD1()

template<typename reg_type >

int ttl_driver::StepperDriver< reg_type >::writeD1	(	uint8_t	id,
		uint32_t	d_1
	)

private

StepperDriver<reg_type>::writeD1.

Parameters

id
d_1

Returns

Definition at line 901 of file stepper_driver.hpp.

◆ writeDMax()

template<typename reg_type >

int ttl_driver::StepperDriver< reg_type >::writeDMax	(	uint8_t	id,
		uint32_t	d_max
	)

private

StepperDriver<reg_type>::writeDMax.

Parameters

id
d_max

Returns

Definition at line 889 of file stepper_driver.hpp.

◆ writeHomingSetup()

template<typename reg_type >

int ttl_driver::StepperDriver< reg_type >::writeHomingSetup	(	uint8_t	id,
		uint8_t	direction,
		uint8_t	stall_threshold
	)

overridevirtual

StepperDriver<reg_type>::writeHomingDirection.

Parameters

id
direction
stall_threshold

Returns: TODO(CC) remove sleeps when fw will be updated

Implements ttl_driver::AbstractStepperDriver.

Definition at line 730 of file stepper_driver.hpp.

◆ writePositionGoal()

template<typename reg_type >

int ttl_driver::StepperDriver< reg_type >::writePositionGoal	(	uint8_t	id,
		uint32_t	position
	)

overridevirtual

StepperDriver<reg_type>::writePositionGoal.

Parameters

id
position

Returns

Implements ttl_driver::AbstractMotorDriver.

Definition at line 248 of file stepper_driver.hpp.

◆ writeTorquePercentage()

template<typename reg_type >

int ttl_driver::StepperDriver< reg_type >::writeTorquePercentage	(	uint8_t	id,
		uint8_t	torque_percentage
	)

overridevirtual

StepperDriver<reg_type>::writeTorquePercentage.

Parameters

id
torque_percentage

Returns

Implements ttl_driver::AbstractMotorDriver.

Definition at line 235 of file stepper_driver.hpp.

◆ writeV1()

template<typename reg_type >

int ttl_driver::StepperDriver< reg_type >::writeV1	(	uint8_t	id,
		uint32_t	v_1
	)

private

StepperDriver<reg_type>::writeV1.

Parameters

id
v_1

Returns

Definition at line 853 of file stepper_driver.hpp.

◆ writeVelocityGoal()

template<typename reg_type >

int ttl_driver::StepperDriver< reg_type >::writeVelocityGoal	(	uint8_t	id,
		uint32_t	velocity
	)

overridevirtual

StepperDriver<reg_type>::writeVelocityGoal.

Parameters

id
velocity

Returns

Implements ttl_driver::AbstractMotorDriver.

Definition at line 261 of file stepper_driver.hpp.

◆ writeVelocityProfile()

template<typename reg_type >

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

overridevirtual

StepperDriver<reg_type>::writeVelocityProfile.

Parameters

id
data_list

Returns: TODO(CC) remove sleeps when fw will be updated

Implements ttl_driver::AbstractMotorDriver.

Definition at line 603 of file stepper_driver.hpp.

◆ writeVMax()

template<typename reg_type >

int ttl_driver::StepperDriver< reg_type >::writeVMax	(	uint8_t	id,
		uint32_t	v_max
	)

private

StepperDriver<reg_type>::writeVMax.

Parameters

id
v_max

Returns

Definition at line 877 of file stepper_driver.hpp.

◆ writeVStart()

template<typename reg_type >

int ttl_driver::StepperDriver< reg_type >::writeVStart	(	uint8_t	id,
		uint32_t	v_start
	)

private

StepperDriver<reg_type>::writeVStart.

Parameters

id
v_start

Returns

Definition at line 829 of file stepper_driver.hpp.

◆ writeVStop()

template<typename reg_type >

int ttl_driver::StepperDriver< reg_type >::writeVStop	(	uint8_t	id,
		uint32_t	v_stop
	)

private

StepperDriver<reg_type>::writeVStop.

Parameters

id
v_stop

Returns

Definition at line 913 of file stepper_driver.hpp.

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

stepper_driver.hpp

Public Member Functions

Private Member Functions

Additional Inherited Members

Detailed Description

template<typename reg_type = StepperReg> class ttl_driver::StepperDriver< reg_type >

Constructor & Destructor Documentation

◆ StepperDriver()

Member Function Documentation

◆ changeId()

◆ checkModelNumber()

◆ readControlMode()

◆ readFirmwareRunning()

◆ readFirmwareVersion()

◆ readHomingStatus()

◆ readHwErrorStatus()

◆ readMaxPosition()

◆ readMinPosition()

◆ readPosition()

◆ readTemperature()

◆ readVelocity()

◆ readVelocityProfile()

◆ readVoltage()

◆ startHoming()

◆ str()

◆ syncReadFirmwareVersion()

◆ syncReadHomingAbsPosition()

◆ syncReadHomingStatus()

◆ syncReadHwErrorStatus()

◆ syncReadHwStatus()

◆ syncReadJointStatus()

◆ syncReadPosition()

◆ syncReadRawVoltage()

◆ syncReadTemperature()

◆ syncReadVelocity()

◆ syncReadVoltage()

◆ syncWriteHomingAbsPosition()

◆ syncWritePositionGoal()

◆ syncWriteTorquePercentage()

◆ syncWriteVelocityGoal()

◆ velocityUnit()

◆ writeA1()

◆ writeAMax()

◆ writeControlMode()

◆ writeD1()

◆ writeDMax()

◆ writeHomingSetup()

◆ writePositionGoal()

◆ writeTorquePercentage()

◆ writeV1()

◆ writeVelocityGoal()

◆ writeVelocityProfile()

◆ writeVMax()

◆ writeVStart()

◆ writeVStop()

template<typename reg_type = StepperReg>
class ttl_driver::StepperDriver< reg_type >