trap::motor::DjiMotor Class Reference

#include <dji_motor.hpp>

Inheritance diagram for trap::motor::DjiMotor:

Collaboration diagram for trap::motor::DjiMotor:

Classes
struct	Config

Public Member Functions
	DjiMotor (Drivers &drivers, const Config &config)
	DjiMotor (Drivers &drivers, tap::motor::MotorId motorId, tap::can::CanBus canBus, const char *name, bool inverted, double externalEncoderGearRatio, bool currentControl)
mockable	~DjiMotor ()
void	initialize () override
void	update () override
	left blank
Radians	getAngularPosition () const override
RPM	getAngularVelocity () const override
void	setTargetOutput (const DjiMotorOutput &output) override
bool	isMotorOnline () const
Celsius	getTemperature () const
tap::can::CanBus	getCanBus () const
const char *	getName () const

Static Public Attributes
static constexpr DjiMotorOutput	kMaxOutput {std::numeric_limits<DjiMotorOutput>::max()}

Detailed Description

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

Constructor & Destructor Documentation

DjiMotor() [1/2]

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

Recommended constructor for storing settings in a config file due to the convenicence of structs

The

DjiMotor() [2/2]

trap::motor::DjiMotor::DjiMotor	(	Drivers &	drivers,
		tap::motor::MotorId	motorId,
		tap::can::CanBus	canBus,
		const char *	name,
		bool	inverted,
		double	externalEncoderGearRatio,
		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 - this should be set to one if you do not use an external encoder in the taproot styyle!!!!! 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.

IMPORTANT if you are using GM6020 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

~DjiMotor()

mockable trap::motor::DjiMotor::~DjiMotor ( )

inline

Member Function Documentation

getAngularPosition()

Radians trap::motor::DjiMotor::getAngularPosition ( ) const

override

Returns the last reported RPM from CAN

getAngularVelocity()

RPM trap::motor::DjiMotor::getAngularVelocity ( ) const

override

Returns the last reported angular velocity in RPM

getCanBus()

tap::can::CanBus trap::motor::DjiMotor::getCanBus

(

)

const

getName()

const char * trap::motor::DjiMotor::getName

(

)

const

getTemperature()

Celsius trap::motor::DjiMotor::getTemperature

(

)

const

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

initialize()

void trap::motor::DjiMotor::initialize ( )

override

It must be called for the motor to properly function.

isMotorOnline()

bool trap::motor::DjiMotor::isMotorOnline

(

)

const

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

setTargetOutput()

void trap::motor::DjiMotor::setTargetOutput ( const DjiMotorOutput &  output )

override

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

This is an alias to interface with RAIL

update()

void trap::motor::DjiMotor::update ( )

override

left blank

Member Data Documentation

kMaxOutput

constexpr DjiMotorOutput trap::motor::DjiMotor::kMaxOutput {std::numeric_limits<DjiMotorOutput>::max()}

staticconstexpr

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

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