trap::motor::DjiM2006Old Class Reference

#include <dji_m2006_old.hpp>

Inheritance diagram for trap::motor::DjiM2006Old:

Collaboration diagram for trap::motor::DjiM2006Old:

Classes
struct	Config

Public Member Functions
	DjiM2006Old (Drivers &drivers, const Config &config)
	DjiM2006Old (Drivers &drivers, tap::motor::MotorId motorId, tap::can::CanBus canBus, const char *name, bool inverted, double gearRatio, const DjiSpeedPid::Config &speedConfig)
mockable	~DjiM2006Old ()=default
mockable void	initialize () override
mockable void	update () override
mockable void	setTargetSpeed (const RPM &targetSpeed) override
mockable RPM	getSpeed () const
mockable void	setDesiredOutput (DjiMotorOutput desiredOutput)
mockable bool	isMotorOnline () const
mockable Celsius	getTemperature () const
mockable tap::can::CanBus	getCanBus () const
mockable const char *	getName () const

Static Public 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.

Detailed Description

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

Constructor & Destructor Documentation

DjiM2006Old() [1/2]

trap::motor::DjiM2006Old::DjiM2006Old	(	Drivers &	drivers,
		const Config &	config
	)

DjiM2006Old() [2/2]

trap::motor::DjiM2006Old::DjiM2006Old	(	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.

~DjiM2006Old()

mockable trap::motor::DjiM2006Old::~DjiM2006Old ( )

default

Member Function Documentation

getCanBus()

tap::can::CanBus trap::motor::DjiM2006Old::getCanBus

(

)

const

getName()

const char * trap::motor::DjiM2006Old::getName

(

)

const

getSpeed()

RPM trap::motor::DjiM2006Old::getSpeed

(

)

const

Returns the last reported RPM from CAN

getTemperature()

Celsius trap::motor::DjiM2006Old::getTemperature

(

)

const

Returns the reported temperature in celsius. The temperature was provided in an int8_t

initialize()

void trap::motor::DjiM2006Old::initialize ( )

override

It must be called for the motor to properly function.

isMotorOnline()

bool trap::motor::DjiM2006Old::isMotorOnline

(

)

const

true if a can message has been received within the last MOTOR_DISCONNECT_TIME.

setDesiredOutput()

void trap::motor::DjiM2006Old::setDesiredOutput

(

DjiMotorOutput

desiredOutput

)

The desired motor output. It must be limited to a 16 bit int.

setTargetSpeed()

void trap::motor::DjiM2006Old::setTargetSpeed ( const RPM &  targetSpeed )

override

Sets the desired speed for the pid to target

update()

void trap::motor::DjiM2006Old::update ( )

override

Must be called regularly to update the motor pid and set the motor output

Member Data Documentation

k_factoryGearboxRatio

constexpr double trap::motor::DjiM2006Old::k_factoryGearboxRatio {tap::motor::DjiMotorEncoder::GEAR_RATIO_M2006}

staticconstexpr

gear ratio of the gearbox that usually ships with the motor.

k_maxOutput

constexpr DjiMotorOutput trap::motor::DjiM2006Old::k_maxOutput {tap::motor::DjiMotor::MAX_OUTPUT_C610}

staticconstexpr

Maximum output for C610 controller.

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

• fang-mcb-project/src/wrap/trap/motor/dji_m2006_old.hpp
• fang-mcb-project/src/wrap/trap/motor/dji_m2006_old.cpp