Class DjiGM6020¶
Defined in File dji_gm6020.hpp
Nested Relationships¶
Nested Types¶
Inheritance Relationships¶
Base Type¶
public fang::motor::IPositionMotor
Class Documentation¶
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class DjiGM6020 : public fang::motor::IPositionMotor¶
Wrapper for DJI motor for the DJI M3508 on a CAN bus
Public Functions
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DjiGM6020(Drivers &drivers, tap::motor::MotorId motorId, tap::can::CanBus canBus, const char *name, bool inverted, double gearRatio, const DjiSpeedPid::Config &speedConfig, bool currentControl)¶
drivers - the drivers struct motorId - the motor controller id canBus - the can bus the motor controller is on. THIS CANNOT BE HIGHER THAN 4 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.
Why an ID not more thn 4? The GM6020 motor have their id offset by + 4 for some unholy DJI reason. (Ask their sages.) Taproot decided to keep the regular motor ids, which meant that if you place MotorID::Motor1, it gets mapped to MotorID::Motor5 implicitly (irl, the GM6020 motor id needs to be set to 1, but the tapproot codewise motorId must be 5) the enum does not go above Motor8, which means in order to access a Gm6020 with irl MotorId::Motor5, the codewise motorId needs to be 9, which is not supported.
Fortunately, this ancient ritual does not need any blood sacrifice.
Long story short:: traproot currently uses the correct motor ID, taproot does not, so keep this in mind.
This oddity is a rite of passage as it is not really mentioned until the initiate tries to move a GM6020. Although, as this is Fang Robotic’s first year, and we had no elders to warn us of the dangers, we lost 4 hours to this ordeal.
However, taproot ended up keeping the regular motorID
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mockable ~DjiGM6020() = default¶
- mockable void update () override
Must be called regularly to update the motor pid and set the motor output
- mockable void setTargetPosition (const Radians &targetPosition) override
Sets the desired speed for the pid to target
- mockable Radians getPosition () const
Returns the last reported RPM from CAN
- mockable void initialize () override
It must be called for the motor to properly function.
- 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
- mockable tap::can::CanBus getCanBus () const
- mockable const char * getName () const
Public Static Attributes
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static const DjiMotorOutput k_maxOutput = {tap::motor::DjiMotor::MAX_OUTPUT_GM6020}¶
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struct Config¶
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DjiGM6020(Drivers &drivers, tap::motor::MotorId motorId, tap::can::CanBus canBus, const char *name, bool inverted, double gearRatio, const DjiSpeedPid::Config &speedConfig, bool currentControl)¶