Representing a single joint mocking the hardware joint. More...

#include <mMockJoint.h>

Inheritance diagram for bioscara_hardware_drivers::MockJoint:

Public Member Functions
	MockJoint (const std::string name)

err_type_t	enable (u_int8_t driveCurrent, u_int8_t holdCurrent) override
	Engages the joint.

err_type_t	disable (void) override
	disenganges the joint

err_type_t	getPosition (float &pos) override
	get the current joint position in radians or m for cylindrical and prismatic joints respectively.

err_type_t	setPosition (float pos) override
	get the current joint position in radians or m for cylindrical and prismatic joints respectively.

err_type_t	getVelocity (float &vel) override
	get the current joint velocity in radians/s or m/s for cylindrical and prismatic joints respectively.

err_type_t	setVelocity (float vel) override
	Set the current joint velocity in radians/s or m/s for cylindrical and prismatic joints respectively.

err_type_t	checkOrientation (float angle=2.0) override
	Calls the checkOrientation method of the motor. Checks in which direction the motor is turning.

err_type_t	stop (void) override
	Stops the motor.

err_type_t	getFlags (void) override
	Overload of getFlags(u_int8_t &flags)

bool	isHomed (void) override
	Checks the state if the motor is homed.

Public Member Functions inherited from bioscara_hardware_drivers::BaseJoint
	BaseJoint (const std::string name)
	Create a Joint object.

	~BaseJoint (void)
	Destroy the BaseJoint object.

virtual err_type_t	init (void)
	Initialize the joint communication.

virtual err_type_t	deinit (void)
	Denitialize the joint communication.

virtual err_type_t	home (float velocity, u_int8_t sensitivity, u_int8_t current)
	Blocking implementation to home the joint.

virtual err_type_t	startHoming (float velocity, u_int8_t sensitivity, u_int8_t current)
	non-blocking implementation to home the joint

virtual err_type_t	postHoming (void)
	perform tasks after a non-blocking homing

virtual err_type_t	moveSteps (int32_t steps)
	Move full steps.

virtual err_type_t	disableCL (void)

virtual err_type_t	setDriveCurrent (u_int8_t current)
	Set the Drive Current.

virtual err_type_t	setHoldCurrent (u_int8_t current)
	Set the Hold Current.

virtual err_type_t	setBrakeMode (u_int8_t mode)
	Set Brake Mode.

virtual err_type_t	setMaxAcceleration (float maxAccel)
	Set the maximum permitted joint acceleration (and deceleration) in rad/s^2 or m/s^2 for cylindrical and prismatic joints respectively.

virtual err_type_t	setMaxVelocity (float maxVel)
	Set the maximum permitted joint velocity in rad/s or m/s for cylindrical and prismatic joints respectively.

virtual err_type_t	enableStallguard (u_int8_t sensitivity)
	Enable encoder stall detection of the joint.

virtual bool	isEnabled (void)
	Checks the state if the motor is enabled.

virtual bool	isStalled (void)
	Checks if the motor is stalled.

virtual bool	isBusy (void)
	Checks if the joint controller is busy processing a blocking command.

virtual err_type_t	getFlags (u_int8_t &flags)
	get the latest driver state flags from the joint

virtual stp_reg_t	getCurrentBCmd (void)
	get the currently active blocking command

Protected Member Functions
err_type_t	_home (float velocity, u_int8_t sensitivity, u_int8_t current)
	Call to start the homing sequence of a joint.

Protected Member Functions inherited from bioscara_hardware_drivers::BaseJoint
virtual void	wait_while_busy (const float period_ms)
	Blocking loop waiting for BUSY flag to reset.

Private Member Functions
float	getDeltaT (std::chrono::_V2::system_clock::time_point &last_call, bool update=true)
	Compute the time since the given time point.

Private Attributes
float	q = 0.0
	position

float	qd = 0.0
	velocity

std::chrono::_V2::system_clock::time_point	last_set_position = std::chrono::high_resolution_clock::now()

std::chrono::_V2::system_clock::time_point	last_set_velocity = last_set_position

std::chrono::_V2::system_clock::time_point	async_start_time = last_set_position

stp_reg_t	op_mode = NONE

Additional Inherited Members
Public Types inherited from bioscara_hardware_drivers::BaseJoint
enum	stp_reg_t { NONE = 0x00 , PING = 0x0f , SETUP = 0x10 , SETRPM = 0x11 , GETDRIVERRPM = 0x12 , MOVESTEPS = 0x13 , MOVEANGLE = 0x14 , MOVETOANGLE = 0x15 , GETMOTORSTATE = 0x16 , RUNCOTINOUS = 0x17 , ANGLEMOVED = 0x18 , SETCURRENT = 0x19 , SETHOLDCURRENT = 0x1A , SETMAXACCELERATION = 0x1B , SETMAXDECELERATION = 0x1C , SETMAXVELOCITY = 0x1D , ENABLESTALLGUARD = 0x1E , DISABLESTALLGUARD = 0x1F , CLEARSTALL = 0x20 , SETBRAKEMODE = 0x22 , ENABLEPID = 0x23 , DISABLEPID = 0x24 , ENABLECLOSEDLOOP = 0x25 , DISABLECLOSEDLOOP = 0x26 , SETCONTROLTHRESHOLD = 0x27 , MOVETOEND = 0x28 , STOP = 0x29 , GETPIDERROR = 0x2A , CHECKORIENTATION = 0x2B , GETENCODERRPM = 0x2C , HOME = 0x2D , HOMEOFFSET = 0x2E }
	register and command definitions More...

Public Attributes inherited from bioscara_hardware_drivers::BaseJoint
std::string	name
	Joint name for logging.

Protected Attributes inherited from bioscara_hardware_drivers::BaseJoint
u_int8_t	flags = 0b00001100
	State flags transmitted with every I2C transaction.

stp_reg_t	current_b_cmd = NONE
	Keeps track if a blocking command is being executed.

Detailed Description

Representing a single joint mocking the hardware joint.

This mock hardware implementation simply mirrors (potentially delayed) commands.

Note: Much of this implementation is very basic not well written.

Constructor & Destructor Documentation

◆ MockJoint()

bioscara_hardware_drivers::MockJoint::MockJoint ( const std::string name )

Member Function Documentation

◆ _home()

err_type_t bioscara_hardware_drivers::MockJoint::_home	(	float	velocity,
		u_int8_t	sensitivity,
		u_int8_t	current
	)

protectedvirtual

Call to start the homing sequence of a joint.

The joint will start rotating with the specified speed until a resistance which drives the PID error above the specified threshold is encountered. At this point the stepper stops and zeros the encoder.

Parameters

velocity	signed velocity in rad/s or m/s. Must be between 1.0 < RAD2DEG(JOINT2ACTUATOR(velocity, reduction, 0)) / 6 < 250.0
sensitivity	Encoder pid error threshold 0 to 255.
current	homing current, determines how easy it is to stop the motor and thereby provoke a stall

Returns: err_type_t

Implements bioscara_hardware_drivers::BaseJoint.

◆ checkOrientation()

err_type_t bioscara_hardware_drivers::MockJoint::checkOrientation ( float angle = 2.0 )

overridevirtual

Calls the checkOrientation method of the motor. Checks in which direction the motor is turning.

Note: This is a blocking function.

Parameters

angle degrees how much the motor should turn. A few degrees is sufficient.

Returns: err_type_t

Reimplemented from bioscara_hardware_drivers::BaseJoint.

◆ disable()

err_type_t bioscara_hardware_drivers::MockJoint::disable ( void )

overridevirtual

disenganges the joint

invokes stop(), sets hold and drive current to 0 and sets the the joint brake mode to freewheeling

Returns: err_type_t

Reimplemented from bioscara_hardware_drivers::BaseJoint.

◆ enable()

err_type_t bioscara_hardware_drivers::MockJoint::enable	(	u_int8_t	driveCurrent,
		u_int8_t	holdCurrent
	)

overridevirtual

Engages the joint.

This function prepares the motor for movement. After successfull execution the joint is ready to accept setPosition() and setVelocity() commands.

The function sets the drive and hold current for the specified joint and engages the motor. The currents are in percent of driver max. output (2.5A, check with TMC5130 datasheet or Ustepper documentation)

Parameters

driveCurrent	drive current in 0-100 % of 2.5A output (check uStepper doc.)
holdCurrent	hold current in 0-100 % of 2.5A output (check uStepper doc.)

Returns: err_type_t

Reimplemented from bioscara_hardware_drivers::BaseJoint.

◆ getDeltaT()

float bioscara_hardware_drivers::MockJoint::getDeltaT	(	std::chrono::_V2::system_clock::time_point &	last_call,
		bool	update = `true`
	)

private

Compute the time since the given time point.

Parameters

last_call	the time point to calculate the duration
update	If true compute the duration and also reset last_call to current time

Returns: elapsed time in seconds since last_call

◆ getFlags()

err_type_t bioscara_hardware_drivers::MockJoint::getFlags ( void )

overridevirtual

Overload of getFlags(u_int8_t &flags)

Returns: err_type_t

Reimplemented from bioscara_hardware_drivers::BaseJoint.

◆ getPosition()

err_type_t bioscara_hardware_drivers::MockJoint::getPosition ( float & pos )

overridevirtual

get the current joint position in radians or m for cylindrical and prismatic joints respectively.

Warning: If the joint is not homed this method does not return an error. Instead pos will be 0.0.

Parameters

pos	the current joint position in rad or m.

Returns: err_type_t

Implements bioscara_hardware_drivers::BaseJoint.

◆ getVelocity()

err_type_t bioscara_hardware_drivers::MockJoint::getVelocity ( float & vel )

overridevirtual

get the current joint velocity in radians/s or m/s for cylindrical and prismatic joints respectively.

Parameters

vel	the current joint velocity in rad/s or m/s.

Returns: err_type_t

Implements bioscara_hardware_drivers::BaseJoint.

◆ isHomed()

bool bioscara_hardware_drivers::MockJoint::isHomed ( void )

overridevirtual

Checks the state if the motor is homed.

Reads the internal state flags from the last transmission. If an update is neccessary call getFlags() before invoking this function.

Returns: true if the motor is homed, false if not.

Reimplemented from bioscara_hardware_drivers::BaseJoint.

◆ setPosition()

err_type_t bioscara_hardware_drivers::MockJoint::setPosition ( float pos )

overridevirtual

get the current joint position in radians or m for cylindrical and prismatic joints respectively.

Parameters

pos	the commanded joint position in rad or m.

Returns: err_type_t

Reimplemented from bioscara_hardware_drivers::BaseJoint.

◆ setVelocity()

err_type_t bioscara_hardware_drivers::MockJoint::setVelocity ( float vel )

overridevirtual

Set the current joint velocity in radians/s or m/s for cylindrical and prismatic joints respectively.

Parameters

vel	the commanded joint velocity in rad/s or m/s.

Returns: err_type_t

Reimplemented from bioscara_hardware_drivers::BaseJoint.

◆ stop()

err_type_t bioscara_hardware_drivers::MockJoint::stop ( void )

overridevirtual

Stops the motor.

Stops the motor by setting the maximum velocity to zero and the position setpoint to the current position

Returns: err_type_t

Reimplemented from bioscara_hardware_drivers::BaseJoint.

Member Data Documentation

◆ async_start_time

std::chrono::_V2::system_clock::time_point bioscara_hardware_drivers::MockJoint::async_start_time = last_set_position

private

◆ last_set_position

std::chrono::_V2::system_clock::time_point bioscara_hardware_drivers::MockJoint::last_set_position = std::chrono::high_resolution_clock::now()

private

◆ last_set_velocity

std::chrono::_V2::system_clock::time_point bioscara_hardware_drivers::MockJoint::last_set_velocity = last_set_position

private

◆ op_mode

stp_reg_t bioscara_hardware_drivers::MockJoint::op_mode = NONE

private

◆ q

float bioscara_hardware_drivers::MockJoint::q = 0.0

private

position

◆ qd

float bioscara_hardware_drivers::MockJoint::qd = 0.0

private

velocity

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

lib/ros2_ws/src/dalsa_bioscara_arm/bioscara_arm_hardware_driver/include/bioscara_arm_hardware_driver/mMockJoint.h
lib/ros2_ws/src/dalsa_bioscara_arm/bioscara_arm_hardware_driver/src/mMockJoint.cpp

Public Member Functions

Protected Member Functions

Private Member Functions

Private Attributes

Additional Inherited Members

Detailed Description

Constructor & Destructor Documentation

◆ MockJoint()

Member Function Documentation

◆ _home()

◆ checkOrientation()

◆ disable()

◆ enable()

◆ getDeltaT()

◆ getFlags()

◆ getPosition()

◆ getVelocity()

◆ isHomed()

◆ setPosition()

◆ setVelocity()

◆ stop()

Member Data Documentation

◆ async_start_time

◆ last_set_position

◆ last_set_velocity

◆ op_mode

◆ q

◆ qd