#include <MotorSimplemotion.h>

Inheritance diagram for MotorSimplemotion1:

Public Member Functions
	MotorSimplemotion1 ()

const ClassIdentifier	getInfo ()
	Command handlers always have class infos. Works well with ChoosableClass. More...

	~MotorSimplemotion1 ()

Public Member Functions inherited from MotorSimplemotion
	MotorSimplemotion (uint8_t instance)

virtual	~MotorSimplemotion ()

void	turn (int16_t power) override

void	stopMotor () override

void	startMotor () override

Encoder *	getEncoder () override

bool	hasIntegratedEncoder ()

int32_t	getPos () override

void	setPos (int32_t pos) override

EncoderType	getEncoderType () override

uint32_t	getCpr () override

CommandStatus	command (const ParsedCommand &cmd, std::vector< CommandReply > &replies) override

void	registerCommands ()

std::string	getHelpstring ()

void	uartRcv (char &buf)

void	sendFastUpdate (uint16_t val1, uint16_t val2=0)

void	startUartTransfer (UARTPort *port, bool transmit)

void	endUartTransfer (UARTPort *port, bool transmit)

bool	sendCommand (uint8_t *buf, uint8_t len, uint8_t adr)

uint8_t	queueCommand (uint8_t *buf, MotorSimplemotion_cmdtypes type, uint32_t data)

bool	read1Parameter (MotorSimplemotion_param paramId, uint32_t *reply_p, MotorSimplemotion_cmdtypes replylen=MotorSimplemotion_cmdtypes::none)

bool	set1Parameter (MotorSimplemotion_param paramId, int32_t value, uint32_t *reply_p=nullptr)

bool	getSettings ()

uint32_t	getCumstat ()

bool	motorReady ()

int16_t	getTorque ()

int16_t	getVoltage ()

void	restart ()

Public Member Functions inherited from MotorDriver
	MotorDriver ()

virtual	~MotorDriver ()

const ClassType	getClassType () override
	returns the used classchooser selection id of this instance More...

virtual void	emergencyStop (bool reset=false)

virtual void	setEncoder (std::shared_ptr< Encoder > &encoder)

Public Member Functions inherited from ChoosableClass
virtual	~ChoosableClass ()

uint16_t	getSelectionID ()

Public Member Functions inherited from Encoder
	Encoder ()

virtual	~Encoder ()

virtual float	getPos_f ()

virtual int32_t	getPosAbs ()

virtual float	getPosAbs_f ()

virtual const ClassType	getClassType () override
	returns the used classchooser selection id of this instance More...

Public Member Functions inherited from CommandHandler
virtual const ClassType	getClassType ()

	CommandHandler (const char *clsname, uint16_t clsid, uint8_t instance=0)

virtual	~CommandHandler ()

virtual bool	hasCommands ()

virtual void	setCommandsEnabled (bool enable)

void	registerCommands ()

virtual CommandStatus	internalCommand (const ParsedCommand &cmd, std::vector< CommandReply > &replies)

virtual std::string	getCommandsHelpstring ()

virtual std::string	getCsvHelpstring ()

virtual uint8_t	getCommandHandlerInstance ()

void	broadcastCommandReply (CommandReply reply, uint32_t cmdId, CMDtype type)

void	sendCommandReplyAsync (CommandReply reply, uint32_t cmdId, CMDtype type, CommandInterface *interface=nullptr)

virtual uint16_t	getCommandHandlerID ()

virtual CmdHandlerInfo *	getCommandHandlerInfo ()

virtual bool	isValidCommandId (uint32_t cmdid, uint32_t ignoredFlags=0, uint32_t requiredFlag=0)

virtual CmdHandlerCommanddef *	getCommandFromName (const std::string &cmd, uint32_t ignoredFlags=0)

virtual CmdHandlerCommanddef *	getCommandFromId (const uint32_t id, uint32_t ignoredFlags=0)

template<typename ID >
void	registerCommand (const char cmd, const ID cmdid, const char help=nullptr, uint32_t flags=0)

Public Member Functions inherited from UARTDevice
	UARTDevice ()

	UARTDevice (UARTPort &port)

virtual	~UARTDevice ()

Static Public Member Functions
static bool	isCreatable ()

Static Public Member Functions inherited from ChoosableClass
static bool	isCreatable ()

Static Public Member Functions inherited from CommandHandler
static void	logSerial (std::string string)
	Send a log formatted sequence. More...

static void	logSerialDebug (std::string string)
	Send a log formatted sequence if debug is on. More...

static bool	logsEnabled ()

static void	setLogsEnabled (bool enabled)

static uint32_t	getClassIdFromName (const char *name)

static const char *	getClassNameFromId (const uint32_t id)

static CommandHandler *	getHandlerFromHandlerId (const uint16_t cmdhandlerID)

static CommandHandler *	getHandlerFromId (const uint16_t id, const uint8_t instance=0xFF)

static CommandHandler *	getHandlerFromClassName (const char *name, const uint8_t instance=0xFF)

static std::vector< CommandHandler * >	getHandlersFromClassName (const char *name)

static std::vector< CommandHandler * >	getHandlersFromId (const uint16_t id)

static bool	isInHandlerList (CommandHandler *handler)

static std::string	getAllHelpstrings ()

static std::vector< CommandHandler * > &	getCommandHandlers ()

template<typename TVal >
static CommandStatus	handleGetSet (const ParsedCommand &cmd, std::vector< CommandReply > &replies, TVal &value)

template<typename TVal , class cls , class cls1 >
static CommandStatus	handleGetSetFunc (const ParsedCommand &cmd, std::vector< CommandReply > &replies, TVal &value, void(cls1::setfunc)(TVal), cls obj)

template<typename TVal , class cls , class cls1 , class cls2 >
static CommandStatus	handleGetFuncSetFunc (const ParsedCommand &cmd, std::vector< CommandReply > &replies, TVal(cls1::getfunc)(), void(cls2::setfunc)(TVal), cls *obj)

template<typename TVal , class cls , class cls1 >
static CommandStatus	handleGetFuncSet (const ParsedCommand &cmd, std::vector< CommandReply > &replies, TVal &value, TVal(cls1::getfunc)(), cls obj)

Static Public Attributes
static ClassIdentifier	info

Static Public Attributes inherited from MotorSimplemotion
static const uint8_t	SMCMD_FAST_UPDATE_CYCLE = 2<<3

static const uint8_t	SMCMD_FAST_UPDATE_CYCLE_RET = (2<<3) \| 1

static const uint8_t	SMP_FAST_UPDATE_CYCLE_FORMAT = 17

static const uint8_t	SMCMD_INSTANT_CMD = 0x24

static const uint8_t	SMCMD_INSTANT_CMD_RET = 0x25

static const uint8_t	SMPCMD_SETPARAMADDR = 2

Static Public Attributes inherited from MotorDriver
static ClassIdentifier	info ={.name = "None" , .id=CLSID_MOT_NONE, .visibility = ClassVisibility::visible}

static const std::vector< class_entry< MotorDriver > >	all_drivers

Static Public Attributes inherited from ChoosableClass
static ClassIdentifier	info

Static Public Attributes inherited from Encoder
static ClassIdentifier	info ={.name = "None" , .id=CLSID_ENCODER_NONE, .visibility = ClassVisibility::visible}

static const std::vector< class_entry< Encoder > >	all_encoders

Static Public Attributes inherited from CommandHandler
static bool	logEnabled = true

Static Private Attributes
static bool	inUse = false

Additional Inherited Members
Protected Member Functions inherited from CommandHandler
void	setInstance (uint8_t instance)

virtual void	addCommandHandler ()

virtual void	removeCommandHandler ()

Static Protected Member Functions inherited from CommandHandler
static std::vector< uint16_t > &	getCommandHandlerIds ()

Protected Attributes inherited from MotorSimplemotion
const OutputPin &	writeEnablePin = gpMotor

volatile char	rxbuf [RXBUF_SIZE]

volatile uint8_t	rxbuf_i = 0

char	txbuf [TXBUF_SIZE]

volatile uint8_t	replyidx = 0

volatile uint32_t	replyvalues [REPLYBUF_SIZE]

volatile uint32_t	crcerrors = 0

int16_t	lastTorque = 0

volatile uint32_t	lastUpdateTime = 0

volatile uint32_t	uarterrors = 0

Protected Attributes inherited from MotorDriver
std::shared_ptr< Encoder >	drvEncoder = std::make_shared<Encoder>()

Protected Attributes inherited from ChoosableClass
uint16_t	selectionId
	Should only be written by ClassChooser during creation. More...

Protected Attributes inherited from Encoder
uint32_t	cpr = 0

Protected Attributes inherited from CommandHandler
bool	commandsEnabled = true

std::vector< CmdHandlerCommanddef >	registeredCommands

CmdHandlerInfo	cmdHandlerInfo

Protected Attributes inherited from UARTDevice
UARTPort *	uartport = nullptr

Static Protected Attributes inherited from MotorSimplemotion
static std::array< uint8_t, 256 >	tableCRC8

static std::array< uint16_t, 256 >	tableCRC16

static const uint8_t	crcpoly = 0x07

static const uint16_t	crcpoly16 = 0x8005

static bool	crcTableInitialized = false

static const uint8_t	crc8init = 0x52

static const uint8_t	RXBUF_SIZE = 32

static const uint8_t	TXBUF_SIZE = 32

static const uint8_t	REPLYBUF_SIZE = 32

Detailed Description

Instance 1

Definition at line 261 of file MotorSimplemotion.h.

Constructor & Destructor Documentation

◆ MotorSimplemotion1()

MotorSimplemotion1::MotorSimplemotion1 ( )

inline

Definition at line 265 of file MotorSimplemotion.h.

◆ ~MotorSimplemotion1()

MotorSimplemotion1::~MotorSimplemotion1 ( )

inline

Definition at line 268 of file MotorSimplemotion.h.

Member Function Documentation

◆ getInfo()

const ClassIdentifier MotorSimplemotion1::getInfo ( )

inlinevirtual

Command handlers always have class infos. Works well with ChoosableClass.

Implements MotorSimplemotion.

Definition at line 267 of file MotorSimplemotion.h.

◆ isCreatable()

static bool MotorSimplemotion1::isCreatable ( )

inlinestatic

Definition at line 269 of file MotorSimplemotion.h.

Member Data Documentation

◆ info

ClassIdentifier MotorSimplemotion1::info

static

Initial value:

= {
     .name = "Simplemotion 1" ,
     .id=CLSID_MOT_SM1
}

Definition at line 266 of file MotorSimplemotion.h.

◆ inUse

bool MotorSimplemotion1::inUse = false

staticprivate

Definition at line 263 of file MotorSimplemotion.h.

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

Public Member Functions

Static Public Member Functions

Static Public Attributes

Static Private Attributes

Additional Inherited Members