MotionController Class Reference

Low-level motion output driver for the PCA9685 servo board. More...

#include <MotionController.hpp>

Public Member Functions
	MotionController () noexcept
	Construct motion controller in uninitialised state.
	~MotionController () noexcept
	Destroy motion controller and release resources.
	MotionController (const MotionController &)=delete
MotionController &	operator= (const MotionController &)=delete
	MotionController (MotionController &&)=delete
MotionController &	operator= (MotionController &&)=delete
bool	initialise (const char *i2c_device_path="/dev/i2c-1", std::uint8_t device_address=0x40, float pwm_frequency_hz=50.0f, MotionChannelMap channel_map={}) noexcept
	Initialise PCA9685 output path.
bool	setTargets (const MeArmJointTargets &targets) noexcept
	Write joint targets to hardware when motion is enabled.
void	freeze () noexcept
	Freeze/disable motion output immediately.
bool	enable () noexcept
	Enable motion output after successful initialisation.
void	shutdown () noexcept
	Disable outputs and close hardware resources.
bool	isInitialised () const noexcept
	Check whether controller was successfully initialised.
bool	isEnabled () const noexcept
	Check whether motion output is currently enabled.
bool	isFrozen () const noexcept
	Check whether output is currently frozen.
MotionOutputState	outputState () const noexcept
	Get current output state.
MotionControllerError	lastError () const noexcept
	Get last controller error code.
const char *	lastErrorString () const noexcept
	Get human-readable last error string.

Static Public Attributes
static constexpr std::uint8_t	kServoCount = 4
	Number of logical servos controlled.
static constexpr std::uint8_t	kPca9685ChannelCount = 16
	PCA9685 total channels.
static constexpr std::uint16_t	kMaxPulseTicks = 4095
	Maximum 12-bit pulse value.

Detailed Description

Definition at line 55 of file MotionController.hpp.

Constructor & Destructor Documentation

MotionController() [1/3]

MotionController::MotionController ( )

noexcept

Definition at line 68 of file MotionController.cpp.

~MotionController()

MotionController::~MotionController ( )

noexcept

Definition at line 76 of file MotionController.cpp.

References shutdown().

MotionController() [2/3]

MotionController::MotionController ( const MotionController &  )

delete

MotionController() [3/3]

MotionController::MotionController ( MotionController &&  )

delete

Member Function Documentation

enable()

bool MotionController::enable ( )

noexcept

Returns

true when enable succeeds, otherwise false.

Definition at line 190 of file MotionController.cpp.

References DEVICE_IO_FAILED, ENABLED, FAULT, NONE, NOT_INITIALISED, and UNINITIALISED.

Referenced by AppController::runInteractiveServoConsole(), AppController::runMotionHomePose(), AppController::runMotionSmokeTest(), and AppController::runServoCalibration().

freeze()

void MotionController::freeze ( )

noexcept

Definition at line 172 of file MotionController.cpp.

References DEVICE_IO_FAILED, DISABLED, FAULT, and NONE.

initialise()

bool MotionController::initialise ( const char *  i2c_device_path = "/dev/i2c-1", std::uint8_t  device_address = 0x40, float  pwm_frequency_hz = 50.0f, MotionChannelMap  channel_map = {}  )

noexcept

Parameters

i2c_device_path	I2C device path (for example /dev/i2c-1).
device_address	I2C slave address of the PCA9685.
pwm_frequency_hz	PWM frequency in Hz.
channel_map	Logical joint-to-channel mapping.

Returns

true on success, otherwise false and lastError() set.

Definition at line 80 of file MotionController.cpp.

References DEVICE_IO_FAILED, DEVICE_OPEN_FAILED, DEVICE_SELECT_FAILED, DISABLED, FAULT, INVALID_ARGUMENT, and NONE.

Referenced by AppController::runInteractiveServoConsole(), AppController::runLiveMarkerTest(), AppController::runMotionHomePose(), AppController::runMotionSmokeTest(), and AppController::runServoCalibration().

isEnabled()

bool MotionController::isEnabled ( ) const

noexcept

Returns

true if enabled, otherwise false.

Definition at line 229 of file MotionController.cpp.

References ENABLED.

isFrozen()

bool MotionController::isFrozen ( ) const

noexcept

Returns

true if frozen, otherwise false.

Definition at line 233 of file MotionController.cpp.

isInitialised()

bool MotionController::isInitialised ( ) const

noexcept

Returns

true if initialised, otherwise false.

Definition at line 224 of file MotionController.cpp.

References FAULT, and UNINITIALISED.

lastError()

MotionControllerError MotionController::lastError ( ) const

noexcept

Returns

Error code.

Definition at line 241 of file MotionController.cpp.

lastErrorString()

const char * MotionController::lastErrorString ( ) const

noexcept

Returns

Null-terminated string describing last error.

Definition at line 245 of file MotionController.cpp.

References DEVICE_IO_FAILED, DEVICE_OPEN_FAILED, DEVICE_SELECT_FAILED, INVALID_ARGUMENT, NONE, and NOT_INITIALISED.

Referenced by AppController::runInteractiveServoConsole(), AppController::runLiveMarkerTest(), AppController::runMotionHomePose(), AppController::runMotionSmokeTest(), and AppController::runServoCalibration().

operator=() [1/2]

MotionController & MotionController::operator= ( const MotionController &  )

delete

operator=() [2/2]

MotionController & MotionController::operator= ( MotionController &&  )

delete

outputState()

MotionOutputState MotionController::outputState ( ) const

noexcept

Returns

Output state enum.

Definition at line 237 of file MotionController.cpp.

setTargets()

bool MotionController::setTargets ( const MeArmJointTargets &  targets )

noexcept

Parameters

targets

Joint pulse-tick targets.

Returns

true on success, otherwise false.

Definition at line 138 of file MotionController.cpp.

References DEVICE_IO_FAILED, ENABLED, FAULT, INVALID_ARGUMENT, NONE, NOT_INITIALISED, and UNINITIALISED.

Referenced by AppController::runInteractiveServoConsole(), AppController::runLiveMarkerTest(), AppController::runMotionHomePose(), AppController::runMotionSmokeTest(), and AppController::runServoCalibration().

shutdown()

void MotionController::shutdown ( )

noexcept

Definition at line 211 of file MotionController.cpp.

References NONE, and UNINITIALISED.

Referenced by AppController::runInteractiveServoConsole(), AppController::runMotionHomePose(), AppController::runMotionSmokeTest(), AppController::runServoCalibration(), and ~MotionController().

Member Data Documentation

kMaxPulseTicks

constexpr std::uint16_t MotionController::kMaxPulseTicks = 4095

staticconstexpr

Definition at line 59 of file MotionController.hpp.

kPca9685ChannelCount

constexpr std::uint8_t MotionController::kPca9685ChannelCount = 16

staticconstexpr

Definition at line 58 of file MotionController.hpp.

kServoCount

constexpr std::uint8_t MotionController::kServoCount = 4

staticconstexpr

Definition at line 57 of file MotionController.hpp.

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

• MotionController.hpp
• MotionController.cpp