#include <dji_motor.hpp>

Inheritance diagram for tap::motor::DjiMotor:

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Collaboration diagram for tap::motor::DjiMotor:

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Public Member Functions
	DjiMotor (Drivers drivers, MotorId desMotorIdentifier, tap::can::CanBus motorCanBus, bool isInverted, const char name, bool currentControl=false, float gearRatio=1, uint32_t encoderHomePosition=0, tap::encoder::EncoderInterface *externalEncoder=nullptr)

mockable	~DjiMotor ()

void	initialize () override

tap::encoder::EncoderInterface *	getEncoder () const override

mockable const Encoder &	getInternalEncoder () const

void	processMessage (const modm::can::Message &message) override

void	setDesiredOutput (int32_t desiredOutput) override

bool	isMotorOnline () const override

mockable void	serializeCanSendData (modm::can::Message *txMessage) const

int16_t	getOutputDesired () const override

mockable uint32_t	getMotorIdentifier () const

int8_t	getTemperature () const override

int16_t	getTorque () const override

mockable bool	isMotorInverted () const

mockable tap::can::CanBus	getCanBus () const

mockable const char *	getName () const

mockable bool	isInCurrentControl () const

Public Member Functions inherited from tap::can::CanRxListener
	CanRxListener (Drivers *drivers, uint32_t id, CanBus cB)

	~CanRxListener ()

mockable void	attachSelfToRxHandler ()

Public Member Functions inherited from tap::motor::MotorInterface
virtual void	resetEncoderValue ()

virtual float	getPositionUnwrapped () const

virtual float	getPositionWrapped () const

virtual int16_t	getShaftRPM () const

Static Public Attributes
static constexpr uint16_t	MAX_OUTPUT_C610 = 10000

static constexpr uint16_t	MAX_OUTPUT_C620 = 16384

static constexpr uint16_t	MAX_OUTPUT_820R = 32767

static constexpr uint16_t	MAX_OUTPUT_GM6020 = 25000

static constexpr uint16_t	MAX_OUTPUT_GM3510 = 29000

Additional Inherited Members
Public Attributes inherited from tap::can::CanRxListener
const uint32_t	canIdentifier

const CanBus	canBus

Drivers *	drivers

Detailed Description

A class designed to interface with DJI brand motors and motor controllers over CAN. This includes the C610 and C620 motor controllers and the GM6020 motor (that has a built-in motor controller).

Note: : the default positive rotation direction (i.e.: when this->isMotorInverted() == false) is counter clockwise when looking at the shaft from the side opposite the motor. This is specified in the C620 user manual (page 18).

See also: DjiMotorEncoder

Extends the CanRxListener class to attach a message handler for feedback data from the motor to the CAN Rx dispatch handler.

Note: Currently there is no error handling for using a motor without having it be properly initialize. You must call the initialize function in order for this class to work properly.

Constructor & Destructor Documentation

◆ DjiMotor()

tap::motor::DjiMotor::DjiMotor	(	Drivers *	drivers,
		MotorId	desMotorIdentifier,
		tap::can::CanBus	motorCanBus,
		bool	isInverted,
		const char *	name,
		bool	currentControl = `false`,
		float	gearRatio = `1`,
		uint32_t	encoderHomePosition = `0`,
		tap::encoder::EncoderInterface *	externalEncoder = `nullptr`
	)

Parameters

drivers	a pointer to the drivers struct
desMotorIdentifier	the ID of this motor controller
motorCanBus	the CAN bus the motor is on
isInverted	if `false` the positive rotation direction of the shaft is counter-clockwise when looking at the shaft from the side opposite the motor. If `true` then the positive rotation direction will be clockwise.
name	a name to associate with the motor for use in the motor menu
gearRatio	the ratio of input revolutions to output revolutions of this encoder.
encoderHomePosition	the zero position for the encoder in encoder ticks.
externalEncoder	a pointer to an external encoder to average with the internal encoder.

◆ ~DjiMotor()

tap::motor::DjiMotor::~DjiMotor ( )

Member Function Documentation

◆ getCanBus()

tap::can::CanBus tap::motor::DjiMotor::getCanBus ( ) const

◆ getEncoder()

tap::encoder::EncoderInterface * tap::motor::DjiMotor::getEncoder ( ) const

inlineoverridevirtual

Implements tap::motor::MotorInterface.

◆ getInternalEncoder()

mockable const Encoder & tap::motor::DjiMotor::getInternalEncoder ( ) const

inline

Returns the builtin encoder associated with the motor.

◆ getMotorIdentifier()

uint32_t tap::motor::DjiMotor::getMotorIdentifier ( ) const

◆ getName()

const char * tap::motor::DjiMotor::getName ( ) const

◆ getOutputDesired()

int16_t tap::motor::DjiMotor::getOutputDesired ( ) const

overridevirtual

Returns: the raw desiredOutput value which will be sent to the motor controller (specified via setDesiredOutput())

Implements tap::motor::MotorInterface.

◆ getTemperature()

int8_t tap::motor::DjiMotor::getTemperature ( ) const

overridevirtual

Returns: the temperature of the motor as reported by the motor in degrees Celsius

Implements tap::motor::MotorInterface.

◆ getTorque()

int16_t tap::motor::DjiMotor::getTorque ( ) const

overridevirtual

Implements tap::motor::MotorInterface.

◆ initialize()

void tap::motor::DjiMotor::initialize ( )

overridevirtual

Implements tap::motor::MotorInterface.

◆ isInCurrentControl()

bool tap::motor::DjiMotor::isInCurrentControl ( ) const

◆ isMotorInverted()

bool tap::motor::DjiMotor::isMotorInverted ( ) const

◆ isMotorOnline()

bool tap::motor::DjiMotor::isMotorOnline ( ) const

overridevirtual

Returns: true if a CAN message has been received from the motor within the last MOTOR_DISCONNECT_TIME ms, false otherwise.

Implements tap::motor::MotorInterface.

◆ processMessage()

void tap::motor::DjiMotor::processMessage ( const modm::can::Message & message )

overridevirtual

Overrides virtual method in the can class, called every time a message with the CAN message id this class is attached to is received by the can receive handler. Parses the data in the message and updates this class's fields accordingly.

Parameters

[in] message the message to be processed.

Implements tap::can::CanRxListener.

◆ serializeCanSendData()

void tap::motor::DjiMotor::serializeCanSendData ( modm::can::Message * txMessage ) const

Serializes send data and deposits it in a message to be sent.

◆ setDesiredOutput()

void tap::motor::DjiMotor::setDesiredOutput ( int32_t desiredOutput )

overridevirtual

Set the desired output for the motor. The meaning of this value is motor controller specific.

Parameters

[in] desiredOutput the desired motor output. Limited to the range of a 16-bit int.

Note: : desiredOutput is cast to an int16_t and limited to an int16_t's range! The user should make sure their value is in range. The declaration takes an int32_t in hopes to mitigate overflow.

Implements tap::motor::MotorInterface.

Member Data Documentation

◆ MAX_OUTPUT_820R

constexpr uint16_t tap::motor::DjiMotor::MAX_OUTPUT_820R = 32767

staticconstexpr

◆ MAX_OUTPUT_C610

constexpr uint16_t tap::motor::DjiMotor::MAX_OUTPUT_C610 = 10000

staticconstexpr

◆ MAX_OUTPUT_C620

constexpr uint16_t tap::motor::DjiMotor::MAX_OUTPUT_C620 = 16384

staticconstexpr

◆ MAX_OUTPUT_GM3510

constexpr uint16_t tap::motor::DjiMotor::MAX_OUTPUT_GM3510 = 29000

staticconstexpr

◆ MAX_OUTPUT_GM6020

constexpr uint16_t tap::motor::DjiMotor::MAX_OUTPUT_GM6020 = 25000

staticconstexpr

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

fang-mcb-project/taproot/src/tap/motor/dji_motor.hpp
fang-mcb-project/taproot/src/tap/motor/dji_motor.cpp

Public Member Functions

Static Public Attributes

Additional Inherited Members

Detailed Description

Constructor & Destructor Documentation

◆ DjiMotor()

◆ ~DjiMotor()

Member Function Documentation

◆ getCanBus()

◆ getEncoder()

◆ getInternalEncoder()

◆ getMotorIdentifier()

◆ getName()

◆ getOutputDesired()

◆ getTemperature()

◆ getTorque()

◆ initialize()

◆ isInCurrentControl()

◆ isMotorInverted()

◆ isMotorOnline()

◆ processMessage()

◆ serializeCanSendData()

◆ setDesiredOutput()

Member Data Documentation

◆ MAX_OUTPUT_820R

◆ MAX_OUTPUT_C610

◆ MAX_OUTPUT_C620

◆ MAX_OUTPUT_GM3510

◆ MAX_OUTPUT_GM6020