Struct hal::rmd::drc::feedback_t

ClassList > hal > rmd > drc > feedback_t

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• #include <drc.hpp>

Public Attributes

Type	Name
std::int16_t	encoder = { 0 } Signed 16-bit raw encoder count value of the motor.
std::uint32_t	message_number = = 0
std::int16_t	raw_current = { 0 }
std::uint8_t	raw_error_state = { 0 } 8-bit value containing error flag information
std::int8_t	raw_motor_temperature = { 0 } Core temperature of the motor (1C/LSB)
std::int64_t	raw_multi_turn_angle = { 0 } Raw multi-turn angle (0.01°/LSB)
std::int16_t	raw_speed = { 0 } Rotational velocity of the motor (1 degrees per second (dps)/LSB)
std::int16_t	raw_volts = { 0 } Motor's supply voltage (0.1V/LSB)

Public Functions

Type	Name
hal::degrees	angle () noexcept const
hal::ampere	current () noexcept const
bool	over_temperature_protection_tripped () noexcept const Return if the motor has detected an over temperature event.
bool	over_voltage_protection_tripped () noexcept const Return if the motor has detected an over voltage event.
hal::rpm	speed () noexcept const
hal::celsius	temperature () noexcept const
hal::volts	volts () noexcept const

Detailed Description

Structure containing all of the forms of feedback acquired by an RMD-X motor

Public Attributes Documentation

variable encoder

std::int16_t hal::rmd::drc::feedback_t::encoder;

variable message_number

std::uint32_t hal::rmd::drc::feedback_t::message_number;

Every time a message from our motor is received this number increments. This can be used to indicate if the feedback has updated since the last time it was read.

variable raw_current

std::int16_t hal::rmd::drc::feedback_t::raw_current;

Current flowing through the motor windings (-2048 <-> 2048 ==> -33A <-> 33A)

variable raw_error_state

std::uint8_t hal::rmd::drc::feedback_t::raw_error_state;

variable raw_motor_temperature

std::int8_t hal::rmd::drc::feedback_t::raw_motor_temperature;

variable raw_multi_turn_angle

std::int64_t hal::rmd::drc::feedback_t::raw_multi_turn_angle;

variable raw_speed

std::int16_t hal::rmd::drc::feedback_t::raw_speed;

variable raw_volts

std::int16_t hal::rmd::drc::feedback_t::raw_volts;

Public Functions Documentation

function angle

hal::degrees hal::rmd::drc::feedback_t::angle () noexcept const

function current

hal::ampere hal::rmd::drc::feedback_t::current () noexcept const

function over_temperature_protection_tripped

Return if the motor has detected an over temperature event.

bool hal::rmd::drc::feedback_t::over_temperature_protection_tripped () noexcept const

In order for this field to be updated a feedback_request with status_1_and_error_flags must be issued.

Returns:

true - over temperature protection tripped

Returns:

false - over temperature protection has not tripped

function over_voltage_protection_tripped

Return if the motor has detected an over voltage event.

bool hal::rmd::drc::feedback_t::over_voltage_protection_tripped () noexcept const

In order for this field to be updated a feedback_request with status_1_and_error_flags must be issued.

Returns:

true - over voltage protection tripped

Returns:

false - over voltage protection has not tripped

function speed

hal::rpm hal::rmd::drc::feedback_t::speed () noexcept const

function temperature

hal::celsius hal::rmd::drc::feedback_t::temperature () noexcept const

function volts

hal::volts hal::rmd::drc::feedback_t::volts () noexcept const

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The documentation for this class was generated from the following file libraries/include/libhal-rmd/drc.hpp