Base class for brushless motors drivers. More...

#include <Bldc.h>

Inheritance diagram for flair::actuator::Bldc:

Public Member Functions
	Bldc (const core::IODevice parent, gui::Layout layout, std::string name, uint8_t motors_count)
	Constructor. More...

	Bldc (const core::Object *parent, std::string name, uint8_t motors_count)
	Constructor. More...

	~Bldc ()
	Destructor. More...

void	LockUserInterface (void) const
	Lock user interface. More...

void	UnlockUserInterface (void) const
	Unlock user interface. More...

void	UseDefaultPlot (gui::TabWidget *tabwidget)
	Use default plot. More...

core::Matrix *	Output (void) const
	Output from motors. More...

uint8_t	MotorsCount (void) const
	Motors count. More...

void	SetEnabled (bool status)
	Enable motors. More...

bool	AreEnabled (void) const
	Are motors enabled? More...

void	SetPower (int motor_id, float value)
	Set motor power. More...

gui::Layout *	GetLayout (void) const
	Layout. More...

virtual bool	HasSpeedMeasurement (void) const =0
	Has speed measurement. More...

virtual bool	HasCurrentMeasurement (void) const =0
	Has current measurement. More...

Public Member Functions inherited from flair::core::IODevice
	IODevice (const Object *parent, std::string name)
	Constructor. More...

virtual	~IODevice ()
	Destructor. More...

void	AddDeviceToLog (const IODevice *device)
	Add an IODevice to the logs. More...

void	AddDataToLog (const io_data *data)
	Add an io_data to the log. More...

void	OutputToShMem (bool enabled)
	Send the output to a shared memory. More...

bool	IsReady (void) const
	is device ready More...

virtual DataType const &	GetInputDataType () const

virtual DataType const &	GetOutputDataType () const

Public Member Functions inherited from flair::core::Object
	Object (const Object *parent=NULL, std::string name="", std::string type="")
	Constructor. More...

virtual	~Object ()
	Destructor. More...

std::string	ObjectName (void) const
	Name. More...

std::string	ObjectType (void) const
	Type. More...

const Object *	Parent (void) const
	Parent. More...

std::vector< const Object * > *	TypeChilds (void) const
	Childs of the same type. More...

std::vector< const Object * > *	Childs (void) const
	Childs. More...

void	Information (const char function, int line, const char format,...) const
	Formatted information. More...

void	Warning (const char function, const char format,...) const
	Formatted warning. More...

void	Error (const char function, const char format,...) const
	Formatted error. More...

bool	ErrorOccured (bool recursive=true) const
	Has an errror occured? More...

Protected Attributes
core::Matrix *	output

Additional Inherited Members
Public Types inherited from flair::core::Object
enum	color_t { Auto = 0, Red = 31, Green = 32, Orange = 33 }

Protected Member Functions inherited from flair::core::IODevice
void	ProcessUpdate (io_data *data)
	Process the childs of type IODevice, and log if needed. More...

void	SetIsReady (bool status)
	set is ready More...

Detailed Description

Base class for brushless motors drivers.

Constructor & Destructor Documentation

flair::actuator::Bldc::Bldc	(	const core::IODevice *	parent,
		gui::Layout *	layout,
		std::string	name,
		uint8_t	motors_count
	)

Constructor.

Construct a Bldc.

Parameters

parent	parent
layout	layout
name	name
motors_count	number of motors

flair::actuator::Bldc::Bldc	(	const core::Object *	parent,
		std::string	name,
		uint8_t	motors_count
	)

Constructor.

Construct a Bldc.
This contructor must only be called for a simulated device.

Parameters

parent	parent
name	name
motors_count	number of motors

flair::actuator::Bldc::~Bldc ( )

Destructor.

Member Function Documentation

void flair::actuator::Bldc::LockUserInterface ( void ) const

Lock user interface.

void flair::actuator::Bldc::UnlockUserInterface ( void ) const

Unlock user interface.

void flair::actuator::Bldc::UseDefaultPlot ( gui::TabWidget * tabwidget )

Use default plot.

Parameters

tabwidget TabWidget to draw plots

core::Matrix* flair::actuator::Bldc::Output ( void ) const

Output from motors.

First column is real speed if available, secund column is current if available

uint8_t flair::actuator::Bldc::MotorsCount ( void ) const

Motors count.

Returns: number of motors

void flair::actuator::Bldc::SetEnabled ( bool status )

Enable motors.

Parameters

true	to enable all motors

bool flair::actuator::Bldc::AreEnabled ( void ) const

Are motors enabled?

Returns: true if motors are enabled

void flair::actuator::Bldc::SetPower	(	int	motor_id,
		float	value
	)

Set motor power.

Changes the power (from 0 to 1) of a specific motor.
By default power is set to 1 for each motor which has no effect.
A value <1 will decrease the power of a motor sent to the reimplemented Bldc class through SetMotors.
The power value is applied after applying saturation between min value and max value. So the resulting value cannot be higher than max value but it can be lower than min value.

Parameters

motor_id	id of the motor
value	power value (from 0 to 1)

gui::Layout* flair::actuator::Bldc::GetLayout ( void ) const

Layout.

This the same Layout as passed to the constructor

Returns: a Layout

virtual bool flair::actuator::Bldc::HasSpeedMeasurement ( void ) const

pure virtual

Has speed measurement.

Returns: true if it has speed measurement

Implemented in flair::actuator::BlCtrlV2, flair::actuator::AfroBldc, flair::actuator::SimulatedBldc, and flair::actuator::XBldc.

virtual bool flair::actuator::Bldc::HasCurrentMeasurement ( void ) const

pure virtual

Has current measurement.

Returns: true if it has current measurement

Implemented in flair::actuator::BlCtrlV2, flair::actuator::AfroBldc, flair::actuator::SimulatedBldc, and flair::actuator::XBldc.

Public Member Functions

Protected Attributes

Additional Inherited Members

Detailed Description

Constructor & Destructor Documentation

Member Function Documentation