MotionController.hpp File Reference

PCA9685-based servo output controller for ARGUS. More...

#include <cstdint>

Go to the source code of this file.

Classes
struct	MotionChannelMap
	Mapping of logical MeArm joints to PCA9685 channels. More...
struct	MeArmJointTargets
	Raw PWM tick targets for each MeArm joint. More...
class	MotionController
	Low-level motion output driver for the PCA9685 servo board. More...

Enumerations
enum class	MotionControllerError {   NONE , INVALID_ARGUMENT , NOT_INITIALISED , DEVICE_OPEN_FAILED ,   DEVICE_SELECT_FAILED , DEVICE_IO_FAILED }
	Error codes reported by MotionController operations. More...
enum class	MotionOutputState { UNINITIALISED , DISABLED , ENABLED , FAULT }
	High-level state of motion output availability. More...

Enumeration Type Documentation

MotionControllerError

enum class MotionControllerError

strong

Enumerator
NONE	No error.
INVALID_ARGUMENT	Invalid input argument.
NOT_INITIALISED	Controller is not initialised.
DEVICE_OPEN_FAILED	Failed to open I2C device.
DEVICE_SELECT_FAILED	Failed to select I2C slave address.
DEVICE_IO_FAILED	I/O transaction failed.

Definition at line 13 of file MotionController.hpp.

MotionOutputState

enum class MotionOutputState

strong

Enumerator
UNINITIALISED	Hardware not initialised.
DISABLED	Initialised but outputs disabled.
ENABLED	Outputs enabled and can accept target writes.
FAULT	Fault state; output path blocked until reset/re-init.

Definition at line 25 of file MotionController.hpp.