tap::motor::DoubleDjiMotor Class Reference

#include <double_dji_motor.hpp>

Inheritance diagram for tap::motor::DoubleDjiMotor:

Collaboration diagram for tap::motor::DoubleDjiMotor:

Public Member Functions
	DoubleDjiMotor (Drivers *drivers, MotorId desMotorIdentifierOne, MotorId desMotorIdentifierTwo, tap::can::CanBus motorCanBusOne, tap::can::CanBus motorCanBusTwo, bool isInvertedOne, bool isInvertedTwo, const char *nameOne, const char *nameTwo, bool currentControl=false, float gearRatio=1, uint32_t encoderHomePositionOne=0, tap::encoder::EncoderInterface *externalEncoder=nullptr)
void	initialize () override
tap::encoder::EncoderInterface *	getEncoder () const override
void	setDesiredOutput (int32_t desiredOutput) override
bool	isMotorOnline () const override
int16_t	getOutputDesired () const override
int8_t	getTemperature () const override
int16_t	getTorque () const override
Public Member Functions inherited from tap::motor::MotorInterface
virtual void	resetEncoderValue ()
virtual float	getPositionUnwrapped () const
virtual float	getPositionWrapped () const
virtual int16_t	getShaftRPM () const

Protected Attributes
DjiMotor	motorOne
DjiMotor	motorTwo
tap::encoder::MultiEncoder< 3 >	encoder

Detailed Description

Wraps two motors assumed to be connected to a rigid drive shaft. Assumes that the two motors are identical with the same gear ratio and are dji motors with the same communication and control interface (for example, two M3508's, two 6020's, etc.).

Constructor & Destructor Documentation

DoubleDjiMotor()

tap::motor::DoubleDjiMotor::DoubleDjiMotor	(	Drivers *	drivers,
		MotorId	desMotorIdentifierOne,
		MotorId	desMotorIdentifierTwo,
		tap::can::CanBus	motorCanBusOne,
		tap::can::CanBus	motorCanBusTwo,
		bool	isInvertedOne,
		bool	isInvertedTwo,
		const char *	nameOne,
		const char *	nameTwo,
		bool	currentControl = false,
		float	gearRatio = 1,
		uint32_t	encoderHomePositionOne = 0,
		tap::encoder::EncoderInterface *	externalEncoder = nullptr
	)

Member Function Documentation

getEncoder()

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

inlineoverridevirtual

Implements tap::motor::MotorInterface.

getOutputDesired()

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

overridevirtual

Implements tap::motor::MotorInterface.

getTemperature()

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

overridevirtual

Implements tap::motor::MotorInterface.

getTorque()

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

overridevirtual

Implements tap::motor::MotorInterface.

initialize()

void tap::motor::DoubleDjiMotor::initialize ( )

overridevirtual

Implements tap::motor::MotorInterface.

isMotorOnline()

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

overridevirtual

Implements tap::motor::MotorInterface.

setDesiredOutput()

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

overridevirtual

Implements tap::motor::MotorInterface.

Member Data Documentation

encoder

tap::encoder::MultiEncoder<3> tap::motor::DoubleDjiMotor::encoder

protected

motorOne

DjiMotor tap::motor::DoubleDjiMotor::motorOne

protected

motorTwo

DjiMotor tap::motor::DoubleDjiMotor::motorTwo

protected

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

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