tap::motor::DjiMotorEncoder Class Reference

#include <dji_motor_encoder.hpp>

Inheritance diagram for tap::motor::DjiMotorEncoder:

Collaboration diagram for tap::motor::DjiMotorEncoder:

Public Member Functions
	DjiMotorEncoder (bool isInverted, float gearRatio=1, uint32_t encoderHomePosition=0)
void	initialize () override
bool	isOnline () const override
float	getVelocity () const override
mockable int16_t	getShaftRPM () const
mockable void	processMessage (const modm::can::Message &message)
Public Member Functions inherited from tap::encoder::WrappedEncoder
	WrappedEncoder (bool isInverted, uint32_t encoderResolution, float gearRatio=1, uint32_t encoderHomePosition=0)
void	initialize () override
tap::algorithms::WrappedFloat	getPosition () const override
mockable tap::algorithms::WrappedFloat	getEncoder () const
float	getVelocity () const override
void	alignWith (EncoderInterface *other) override
void	resetEncoderValue () override

Static Public Attributes
static constexpr uint16_t	ENC_RESOLUTION = 8192
static constexpr float	GEAR_RATIO_M3508 = 3591.0f / 187.0f
static constexpr float	GEAR_RATIO_GM3510_L1 = 3.7f / 1.0f
static constexpr float	GEAR_RATIO_GM3510_L2 = 5.2f / 1.0f
static constexpr float	GEAR_RATIO_GM3510_L3 = 19.0f / 1.0f
static constexpr float	GEAR_RATIO_GM3510_L4 = 27.0f / 1.0f
static constexpr float	GEAR_RATIO_M2006 = 36.0f / 1.0f
static constexpr float	GEAR_RATIO_GM6020 = 1.0f / 1.0f

Additional Inherited Members
Protected Member Functions inherited from tap::encoder::WrappedEncoder
void	updateEncoderValue (uint32_t encoderActual)
Protected Attributes inherited from tap::encoder::WrappedEncoder
tap::algorithms::WrappedFloat	encoder
tap::algorithms::WrappedFloat	position
bool	inverted
const uint32_t	encoderResolution
const float	gearRatio

Detailed Description

A class designed to interface with the encoder for 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).

DJI motor encoders store a consistent encoding for a given angle across power-cycles. This means the encoder angle reported by the motor can have meaning if the encoding for an angle is unique as it is for the GM6020s. However for geared motors like the M3508 where a full encoder revolution does not correspond 1:1 to a shaft revolution, it is impossible to know the orientation of the shaft given just the encoder value.

Combining them with some form of absolute encoder on the output shaft would give you knowledge of the orientation of the output shaft.

Constructor & Destructor Documentation

DjiMotorEncoder()

tap::motor::DjiMotorEncoder::DjiMotorEncoder	(	bool	isInverted,
		float	gearRatio = 1,
		uint32_t	encoderHomePosition = 0
	)

Parameters

isInverted	if false the positive rotation direction of the shaft is counter-clockwise when looking at the shaft from. If true then the positive rotation direction will be clockwise.
encoderResolution	the number of encoder ticks before the value wraps.
gearRatio	the ratio of input revolutions to output revolutions of this encoder.
encoderHomePosition	the zero position for the encoder in encoder ticks.

Member Function Documentation

getShaftRPM()

int16_t tap::motor::DjiMotorEncoder::getShaftRPM

(

)

const

The current RPM reported by the motor controller.

getVelocity()

float tap::motor::DjiMotorEncoder::getVelocity ( ) const

overridevirtual

Gets the current velocity reported by the encoder. Returned in a value of radians / second

Implements tap::encoder::EncoderInterface.

initialize()

void tap::motor::DjiMotorEncoder::initialize ( )

inlineoverridevirtual

Initialize the encoder. For instance: attaching a can receiver.

Implements tap::encoder::EncoderInterface.

isOnline()

bool tap::motor::DjiMotorEncoder::isOnline ( ) const

overridevirtual

Returns true when the encoder is online and reporting valid values.

Implements tap::encoder::EncoderInterface.

processMessage()

void tap::motor::DjiMotorEncoder::processMessage

(

const modm::can::Message &

message

)

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.

Member Data Documentation

ENC_RESOLUTION

constexpr uint16_t tap::motor::DjiMotorEncoder::ENC_RESOLUTION = 8192

staticconstexpr

GEAR_RATIO_GM3510_L1

constexpr float tap::motor::DjiMotorEncoder::GEAR_RATIO_GM3510_L1 = 3.7f / 1.0f

staticconstexpr

GEAR_RATIO_GM3510_L2

constexpr float tap::motor::DjiMotorEncoder::GEAR_RATIO_GM3510_L2 = 5.2f / 1.0f

staticconstexpr

GEAR_RATIO_GM3510_L3

constexpr float tap::motor::DjiMotorEncoder::GEAR_RATIO_GM3510_L3 = 19.0f / 1.0f

staticconstexpr

GEAR_RATIO_GM3510_L4

constexpr float tap::motor::DjiMotorEncoder::GEAR_RATIO_GM3510_L4 = 27.0f / 1.0f

staticconstexpr

GEAR_RATIO_GM6020

constexpr float tap::motor::DjiMotorEncoder::GEAR_RATIO_GM6020 = 1.0f / 1.0f

staticconstexpr

GEAR_RATIO_M2006

constexpr float tap::motor::DjiMotorEncoder::GEAR_RATIO_M2006 = 36.0f / 1.0f

staticconstexpr

GEAR_RATIO_M3508

constexpr float tap::motor::DjiMotorEncoder::GEAR_RATIO_M3508 = 3591.0f / 187.0f

staticconstexpr

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

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