Class DoubleDjiMotor¶
Defined in File double_dji_motor.hpp
Inheritance Relationships¶
Base Type¶
public tap::motor::MotorInterface(Class MotorInterface)
Class Documentation¶
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class DoubleDjiMotor : public tap::motor::MotorInterface¶
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.).
Public Functions
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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)¶
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virtual void initialize() override¶
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inline virtual tap::encoder::EncoderInterface *getEncoder() const override¶
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virtual void setDesiredOutput(int32_t desiredOutput) override¶
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virtual bool isMotorOnline() const override¶
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virtual int16_t getOutputDesired() const override¶
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virtual int8_t getTemperature() const override¶
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virtual int16_t getTorque() const override¶
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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)¶