#include <VescCAN.h>

Inheritance diagram for VESC_2:

Public Member Functions
	VESC_2 ()

	~VESC_2 ()

const ClassIdentifier	getInfo ()

Public Member Functions inherited from VescCAN
	VescCAN (uint8_t address)

virtual	~VescCAN ()

void	setAddress (uint8_t address)

void	turn (int16_t power) override

void	stopMotor () override

void	startMotor () override

Encoder *	getEncoder () override

bool	hasIntegratedEncoder () override

EncoderType	getEncoderType () override

bool	motorReady () override

void	saveFlash () override

void	restoreFlash () override

float	getPos_f () override

uint32_t	getCpr () override

int32_t	getPos () override

void	setPos (int32_t pos) override

void	canRxPendCallback (CANPort *port, CAN_rx_msg &msg) override

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

void	registerCommands ()

virtual std::string	getHelpstring ()

void	Run ()

bool	setCanFilter ()

Public Member Functions inherited from MotorDriver
	MotorDriver ()

virtual	~MotorDriver ()

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

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 PersistentStorage
	PersistentStorage ()

virtual	~PersistentStorage ()

void	restoreFlashDelayed ()

Public Member Functions inherited from Encoder
	Encoder ()

virtual	~Encoder ()

virtual int32_t	getPosAbs ()

virtual float	getPosAbs_f ()

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

Public Member Functions inherited from CanHandler
	CanHandler ()

virtual	~CanHandler ()

virtual void	canErrorCallback (CANPort *port, uint32_t errcode)

virtual void	canRxFullCallback (CANPort *port, uint32_t fifo)

virtual void	canTxCpltCallback (CANPort *port, uint32_t mailbox)

virtual void	canTxAbortCallback (CANPort *port, uint32_t mailbox)

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)

virtual void	postCmdhandlerInit ()

template<typename ID>
void	overrideCommandFlags (const ID cmdid, uint32_t flagmask=0)

Static Public Member Functions
static bool	isCreatable ()

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

Static Public Member Functions inherited from PersistentStorage
static std::vector< PersistentStorage * > &	getFlashHandlers ()

static void	restoreFlashStartupCb ()

Static Public Member Functions inherited from CanHandler
static std::vector< CanHandler * > &	getCANHandlers ()

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

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

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 bool	inUse = false

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

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

virtual void	addCommandHandler ()

virtual void	removeCommandHandler ()

void	registerCommand_INT (const char cmd, const uint32_t cmdid, const char help=nullptr, uint32_t flags=0)

void	overrideCommandFlags_INT (const uint32_t cmdid, uint32_t flagmask=CMDFLAG_GET\|CMDFLAG_GETADR)

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

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.

Protected Attributes inherited from PersistentStorage
bool	restoreDelayedFlag = false

Protected Attributes inherited from Encoder
uint32_t	cpr = 0

Protected Attributes inherited from CommandHandler
bool	commandsEnabled = true

std::vector< CmdHandlerCommanddef >	registeredCommands

CmdHandlerInfo	cmdHandlerInfo

Static Protected Attributes inherited from PersistentStorage
static bool	startupComplete = false

Detailed Description

Definition at line 185 of file VescCAN.h.

Constructor & Destructor Documentation

◆ VESC_2()

VESC_2::VESC_2 ( )

inline

Definition at line 187 of file VescCAN.h.

◆ ~VESC_2()

VESC_2::~VESC_2 ( )

inline

Definition at line 188 of file VescCAN.h.

Member Function Documentation

◆ getInfo()

const ClassIdentifier VESC_2::getInfo ( )

virtual

Reimplemented from MotorDriver.

Definition at line 46 of file VescCAN.cpp.

◆ isCreatable()

bool VESC_2::isCreatable ( )

static

Definition at line 42 of file VescCAN.cpp.

Member Data Documentation

◆ info

ClassIdentifier VESC_2::info

static

Initial value:

= {
     .name = "VESC 2" ,
     .id=CLSID_MOT_VESC1
}

Definition at line 37 of file VescCAN.h.

◆ inUse

bool VESC_2::inUse = false

static

Definition at line 191 of file VescCAN.h.

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

Public Member Functions

Static Public Member Functions

Static Public Attributes

Additional Inherited Members

Detailed Description

Constructor & Destructor Documentation

◆ VESC_2()

◆ ~VESC_2()

Member Function Documentation

◆ getInfo()

◆ isCreatable()

Member Data Documentation

◆ info

◆ inUse