Class DjiM2006¶

Nested Relationships¶

class DjiM2006 : public virtual fang::motor::ISpeedMotor ¶

Wrapper for DJI motor for the DJI M3508 on a CAN bus

Public Functions

DjiM2006(Drivers &drivers, tap::motor::MotorId motorId, tap::can::CanBus canBus, const char *name, bool inverted, double gearRatio, const DjiSpeedPid::Config &speedConfig)¶: drivers - the drivers struct motorId - the motor controller id canBus - the can bus the motor controller is on name - the name of the motor for the controller menu gearRatio - the ratio of input revolutions per output revolution pid config: make sure the maxOutput does not exceed DjiM3508 k_maxOutput. This would lead to undefined behavior. An assertion has been placed to prevent the code from continuing.

mockable void initialize () override: It must be called for the motor to properly function.

mockable void update () override: Must be called regularly to update the motor pid and set the motor output

mockable void setTargetSpeed (const RPM &targetSpeed) override: Sets the desired speed for the pid to target

mockable void setDesiredOutput (DjiMotorOutput desiredOutput): The desired motor output. It must be limited to a 16 bit int.

mockable bool isMotorOnline () const: true if a can message has been received within the last MOTOR_DISCONNECT_TIME.

mockable Celsius getTemperature () const: Returns the reported temperature in celsius. The temperature was provided in an int8_t

Public Static Attributes

static constexpr DjiMotorOutput k_maxOutput = {tap::motor::DjiMotor::MAX_OUTPUT_C610}¶: Maximum output for C610 controller.

static constexpr double k_factoryGearboxRatio = {tap::motor::DjiMotorEncoder::GEAR_RATIO_M2006}¶: gear ratio of the gearbox that usually ships with the motor.

struct Config¶

Public Members