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

#include <yarp/dev/IPWMControl.h>

+ Inheritance diagram for yarp::dev::IPWMControl:

Detailed Description

Interface for controlling an axis, by sending directly a PWM reference signal to a motor.

Definition at line 27 of file IPWMControl.h.

Public Member Functions

virtual ~IPWMControl ()
 
virtual bool getNumberOfMotors (int *number)=0
 Retrieves the number of controlled motors from the current physical interface. More...
 
virtual bool setRefDutyCycle (int m, double ref)=0
 Sets the reference dutycycle to a single motor. More...
 
virtual bool setRefDutyCycles (const double *refs)=0
 Sets the reference dutycycle for all the motors. More...
 
virtual bool getRefDutyCycle (int m, double *ref)=0
 Gets the last reference sent using the setRefDutyCycle function. More...
 
virtual bool getRefDutyCycles (double *refs)=0
 Gets the last reference sent using the setRefDutyCycles function. More...
 
virtual bool getDutyCycle (int m, double *val)=0
 Gets the current dutycycle of the output of the amplifier (i.e. More...
 
virtual bool getDutyCycles (double *vals)=0
 Gets the current dutycycle of the output of the amplifier (i.e. More...
 

Constructor & Destructor Documentation

◆ ~IPWMControl()

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

Definition at line 30 of file IPWMControl.h.

Member Function Documentation

◆ getDutyCycle()

virtual bool yarp::dev::IPWMControl::getDutyCycle ( int  m,
double *  val 
)
pure virtual

Gets the current dutycycle of the output of the amplifier (i.e.

pwm value sent to the motor)

Parameters
mmotor number
valpointer to storage for return value, expressed as percentage (-100% +100%)
Returns
true/false on success/failure

Implemented in ControlBoardRemapper, ControlBoardWrapper, yarp::dev::ImplementPWMControl, and RemoteControlBoard.

◆ getDutyCycles()

virtual bool yarp::dev::IPWMControl::getDutyCycles ( double *  vals)
pure virtual

Gets the current dutycycle of the output of the amplifier (i.e.

pwm values sent to all motors)

Parameters
valspointer to the vector that will store the values, expressed as percentage (-100% +100%)
Returns
true/false on success/failure

Implemented in ControlBoardRemapper, ControlBoardWrapper, yarp::dev::ImplementPWMControl, and RemoteControlBoard.

◆ getNumberOfMotors()

virtual bool yarp::dev::IPWMControl::getNumberOfMotors ( int *  number)
pure virtual

Retrieves the number of controlled motors from the current physical interface.

Parameters
numberreturns the number of controlled motors.
Returns
true/false on success/failure

Implemented in ControlBoardWrapper, ControlBoardRemapper, RemoteControlBoard, and yarp::dev::ImplementPWMControl.

◆ getRefDutyCycle()

virtual bool yarp::dev::IPWMControl::getRefDutyCycle ( int  m,
double *  ref 
)
pure virtual

Gets the last reference sent using the setRefDutyCycle function.

Parameters
mmotor number
refpointer to storage for return value, expressed as percentage (-100% +100%)
Returns
true/false on success/failure

Implemented in ControlBoardRemapper, ControlBoardWrapper, yarp::dev::ImplementPWMControl, and RemoteControlBoard.

◆ getRefDutyCycles()

virtual bool yarp::dev::IPWMControl::getRefDutyCycles ( double *  refs)
pure virtual

Gets the last reference sent using the setRefDutyCycles function.

Parameters
refspointer to the vector that will store the values, expressed as percentage (-100% +100%)
Returns
true/false on success/failure

Implemented in ControlBoardWrapper, yarp::dev::ImplementPWMControl, ControlBoardRemapper, and RemoteControlBoard.

◆ setRefDutyCycle()

virtual bool yarp::dev::IPWMControl::setRefDutyCycle ( int  m,
double  ref 
)
pure virtual

Sets the reference dutycycle to a single motor.

Parameters
mmotor number
refthe dutycycle, expressed as percentage (-100% +100%)
Returns
true/false on success/failure

Implemented in ControlBoardRemapper, ControlBoardWrapper, RemoteControlBoard, and yarp::dev::ImplementPWMControl.

◆ setRefDutyCycles()

virtual bool yarp::dev::IPWMControl::setRefDutyCycles ( const double *  refs)
pure virtual

Sets the reference dutycycle for all the motors.

Parameters
refsthe dutycycle, expressed as percentage (-100% +100%)
Returns
true/false on success/failure

Implemented in ControlBoardWrapper, RemoteControlBoard, yarp::dev::ImplementPWMControl, and ControlBoardRemapper.


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