YARP
Yet Another Robot Platform
yarp::dev::IAmplifierControl Class Referenceabstract

#include <yarp/dev/IAmplifierControl.h>

+ Inheritance diagram for yarp::dev::IAmplifierControl:

Detailed Description

Interface for control devices, amplifier commands.

Definition at line 32 of file IAmplifierControl.h.

Public Member Functions

virtual ~IAmplifierControl ()
 Destructor. More...
 
virtual bool enableAmp (int j)=0
 Enable the amplifier on a specific joint. More...
 
virtual bool disableAmp (int j)=0
 Disable the amplifier on a specific joint. More...
 
virtual bool getAmpStatus (int *st)=0
 
virtual bool getAmpStatus (int j, int *v)=0
 
virtual bool getCurrents (double *vals)=0
 
virtual bool getCurrent (int j, double *val)=0
 
virtual bool getMaxCurrent (int j, double *v)=0
 Returns the maximum electric current allowed for a given motor. More...
 
virtual bool setMaxCurrent (int j, double v)=0
 
virtual bool getNominalCurrent (int m, double *val)
 
virtual bool setNominalCurrent (int m, const double val)
 
virtual bool getPeakCurrent (int m, double *val)
 
virtual bool setPeakCurrent (int m, const double val)
 
virtual bool getPWM (int j, double *val)
 
virtual bool getPWMLimit (int j, double *val)
 
virtual bool setPWMLimit (int j, const double val)
 
virtual bool getPowerSupplyVoltage (int j, double *val)
 

Constructor & Destructor Documentation

◆ ~IAmplifierControl()

virtual yarp::dev::IAmplifierControl::~IAmplifierControl ( )
inlinevirtual

Destructor.

Definition at line 38 of file IAmplifierControl.h.

Member Function Documentation

◆ disableAmp()

virtual bool yarp::dev::IAmplifierControl::disableAmp ( int  j)
pure virtual

Disable the amplifier on a specific joint.

All computations within the board will be carried out normally, but the output will be disabled.

Returns
true/false on success/failure

Implemented in ControlBoardWrapper, RemoteControlBoard, ControlBoardRemapper, FakeBot, and yarp::dev::ImplementAmplifierControl.

◆ enableAmp()

virtual bool yarp::dev::IAmplifierControl::enableAmp ( int  j)
pure virtual

Enable the amplifier on a specific joint.

Be careful, check that the output of the controller is appropriate (usually zero), to avoid generating abrupt movements.

Returns
true/false on success/failure

Implemented in ControlBoardWrapper, RemoteControlBoard, ControlBoardRemapper, FakeBot, and yarp::dev::ImplementAmplifierControl.

◆ getAmpStatus() [1/2]

virtual bool yarp::dev::IAmplifierControl::getAmpStatus ( int *  st)
pure virtual

◆ getAmpStatus() [2/2]

virtual bool yarp::dev::IAmplifierControl::getAmpStatus ( int  j,
int *  v 
)
pure virtual

◆ getCurrent()

virtual bool yarp::dev::IAmplifierControl::getCurrent ( int  j,
double *  val 
)
pure virtual

◆ getCurrents()

virtual bool yarp::dev::IAmplifierControl::getCurrents ( double *  vals)
pure virtual

◆ getMaxCurrent()

virtual bool yarp::dev::IAmplifierControl::getMaxCurrent ( int  j,
double *  v 
)
pure virtual

Returns the maximum electric current allowed for a given motor.

Exceeding this value will trigger instantaneous hardware fault.

Parameters
jmotor number
vthe return value
Returns
probably true, might return false in bad times

Implemented in ControlBoardWrapper, RemoteControlBoard, ControlBoardRemapper, FakeBot, and yarp::dev::ImplementAmplifierControl.

◆ getNominalCurrent()

virtual bool yarp::dev::IAmplifierControl::getNominalCurrent ( int  m,
double *  val 
)
inlinevirtual

◆ getPeakCurrent()

virtual bool yarp::dev::IAmplifierControl::getPeakCurrent ( int  m,
double *  val 
)
inlinevirtual

◆ getPowerSupplyVoltage()

virtual bool yarp::dev::IAmplifierControl::getPowerSupplyVoltage ( int  j,
double *  val 
)
inlinevirtual

◆ getPWM()

virtual bool yarp::dev::IAmplifierControl::getPWM ( int  j,
double *  val 
)
inlinevirtual

◆ getPWMLimit()

virtual bool yarp::dev::IAmplifierControl::getPWMLimit ( int  j,
double *  val 
)
inlinevirtual

◆ setMaxCurrent()

virtual bool yarp::dev::IAmplifierControl::setMaxCurrent ( int  j,
double  v 
)
pure virtual

◆ setNominalCurrent()

virtual bool yarp::dev::IAmplifierControl::setNominalCurrent ( int  m,
const double  val 
)
inlinevirtual

◆ setPeakCurrent()

virtual bool yarp::dev::IAmplifierControl::setPeakCurrent ( int  m,
const double  val 
)
inlinevirtual

◆ setPWMLimit()

virtual bool yarp::dev::IAmplifierControl::setPWMLimit ( int  j,
const double  val 
)
inlinevirtual

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