ANYdrive SDK
The SDK for interfacing ANYdrive.
anydrive_ethercat::AnydriveEthercatSlave Class Reference

#include <AnydriveEthercatSlave.hpp>

Inheritance diagram for anydrive_ethercat::AnydriveEthercatSlave:
Inheritance graph

Classes

struct  PdoInfo
 

Public Member Functions

 AnydriveEthercatSlave (const anydrive::AnydriveWeakPtr &anydrive, const AnydriveEthercatBusWeakPtr &bus, const uint32_t address, const PdoTypeEnum pdoTypeEnum)
 
virtual ~AnydriveEthercatSlave ()=default
 
uint32_t getAddress () const
 
bool startup () override
 
void updateRead () override
 
void updateWrite () override
 
void shutdown () override
 
bool deviceIsMissing () const override
 
void setState (const uint16_t state)
 
bool waitForState (const uint16_t state)
 
PdoTypeEnum getCurrentPdoTypeEnum () const
 
PdoInfo getCurrentPdoInfo () const
 
bool receivesGearAndJointEncoderTicks () const override
 
template<typename Value >
bool sendSdoWrite (const uint16_t index, const uint8_t subindex, const bool completeAccess, const Value value)
 
template<typename Value >
bool sendSdoRead (const uint16_t index, const uint8_t subindex, const bool completeAccess, Value &value)
 
bool sendSdoReadInt8 (const uint16_t index, const uint8_t subindex, const bool completeAccess, int8_t &value) override
 
bool sendSdoReadInt16 (const uint16_t index, const uint8_t subindex, const bool completeAccess, int16_t &value) override
 
bool sendSdoReadInt32 (const uint16_t index, const uint8_t subindex, const bool completeAccess, int32_t &value) override
 
bool sendSdoReadInt64 (const uint16_t index, const uint8_t subindex, const bool completeAccess, int64_t &value) override
 
bool sendSdoReadUInt8 (const uint16_t index, const uint8_t subindex, const bool completeAccess, uint8_t &value) override
 
bool sendSdoReadUInt16 (const uint16_t index, const uint8_t subindex, const bool completeAccess, uint16_t &value) override
 
bool sendSdoReadUInt32 (const uint16_t index, const uint8_t subindex, const bool completeAccess, uint32_t &value) override
 
bool sendSdoReadUInt64 (const uint16_t index, const uint8_t subindex, const bool completeAccess, uint64_t &value) override
 
bool sendSdoReadFloat (const uint16_t index, const uint8_t subindex, const bool completeAccess, float &value) override
 
bool sendSdoReadDouble (const uint16_t index, const uint8_t subindex, const bool completeAccess, double &value) override
 
bool sendSdoReadGeneric (const std::string &indexString, const std::string &subindexString, const std::string &valueTypeString, std::string &valueString) override
 
bool sendSdoWriteInt8 (const uint16_t index, const uint8_t subindex, const bool completeAccess, const int8_t value) override
 
bool sendSdoWriteInt16 (const uint16_t index, const uint8_t subindex, const bool completeAccess, const int16_t value) override
 
bool sendSdoWriteInt32 (const uint16_t index, const uint8_t subindex, const bool completeAccess, const int32_t value) override
 
bool sendSdoWriteInt64 (const uint16_t index, const uint8_t subindex, const bool completeAccess, const int64_t value) override
 
bool sendSdoWriteUInt8 (const uint16_t index, const uint8_t subindex, const bool completeAccess, const uint8_t value) override
 
bool sendSdoWriteUInt16 (const uint16_t index, const uint8_t subindex, const bool completeAccess, const uint16_t value) override
 
bool sendSdoWriteUInt32 (const uint16_t index, const uint8_t subindex, const bool completeAccess, const uint32_t value) override
 
bool sendSdoWriteUInt64 (const uint16_t index, const uint8_t subindex, const bool completeAccess, const uint64_t value) override
 
bool sendSdoWriteFloat (const uint16_t index, const uint8_t subindex, const bool completeAccess, const float value) override
 
bool sendSdoWriteDouble (const uint16_t index, const uint8_t subindex, const bool completeAccess, const double value) override
 
bool sendSdoWriteGeneric (const std::string &indexString, const std::string &subindexString, const std::string &valueTypeString, const std::string &valueString) override
 
bool getDriveInfoSerialNumber (std::string &serialNumber) override
 
bool setDriveInfoSerialNumber (const std::string &serialNumber) override
 
bool getDriveInfoName (std::string &name) override
 
bool setDriveInfoName (const std::string &name) override
 
bool getDriveInfoId (uint16_t &id) override
 
bool setDriveInfoId (const uint16_t id) override
 
bool getDriveInfoBootloaderVersion (anydrive::common::Version &bootloaderVersion) override
 
bool setDriveInfoBootloaderVersion (const anydrive::common::Version &bootloaderVersion) override
 
bool getDriveInfoFirmwareVersion (anydrive::common::Version &firmwareVersion) override
 
bool getDriveFirmwareInfo (anydrive::common::FirmwareInfo &firmwareInfo) override
 
bool getGearboxRatio (uint32_t &ratio) override
 
bool eraseFlashStorage () override
 
bool resetFlashStorageSections (const uint16_t flashStorageSections) override
 
bool getCalibrationState (const anydrive::calibration::CalibrationTypeEnum calibrationTypeEnum, anydrive::calibration::CalibrationState &calibrationState) override
 
bool sendCalibrationGearAndJointEncoderHomingNewJointPosition (const double newJointPosition) override
 
bool startCalibration (const anydrive::calibration::CalibrationModeEnum calibrationModeEnum) override
 
bool calibrationIsRunning (bool &running) override
 
bool getCalibrationMotorEncoderOffset (const anydrive::calibration::CalibrationTypeEnum calibrationTypeEnum, anydrive::calibration::parameter::MotorEncoderOffset &motorEncoderOffset) override
 
bool getCalibrationMotorEncoderParameters (const anydrive::calibration::CalibrationTypeEnum calibrationTypeEnum, anydrive::calibration::parameter::MotorEncoderParameters &motorEncoderParameters) override
 
bool getCalibrationGearJointEncoderOffset (const anydrive::calibration::CalibrationTypeEnum calibrationTypeEnum, anydrive::calibration::parameter::GearJointEncoderOffset &gearJointEncoderOffset) override
 
bool getCalibrationGearAndJointEncoderHoming (const anydrive::calibration::CalibrationTypeEnum calibrationTypeEnum, anydrive::calibration::parameter::GearAndJointEncoderHoming &gearAndJointEncoderHoming) override
 
bool getCalibrationImuGyroscopeDcBias (const anydrive::calibration::CalibrationTypeEnum calibrationTypeEnum, anydrive::calibration::parameter::ImuGyroscopeDcBias &imuGyroscopeDcBias) override
 
bool setCalibrationSpringStiffness (const anydrive::calibration::CalibrationTypeEnum calibrationTypeEnum, const anydrive::calibration::parameter::SpringStiffness &springStiffness) override
 
bool getCalibrationSpringStiffness (const anydrive::calibration::CalibrationTypeEnum calibrationTypeEnum, anydrive::calibration::parameter::SpringStiffness &springStiffness) override
 
bool setCalibrationFrictionEstimation (const anydrive::calibration::CalibrationTypeEnum calibrationTypeEnum, const anydrive::calibration::parameter::FrictionEstimation &frictionEstimation) override
 
bool getCalibrationFrictionEstimation (const anydrive::calibration::CalibrationTypeEnum calibrationTypeEnum, anydrive::calibration::parameter::FrictionEstimation &frictionEstimation) override
 
bool resetCustomCalibrationsToFactory (const anydrive::calibration::CalibrationState calibrationState) override
 
bool writeFactoryCalibration () override
 
bool getMaxCurrent (double &maxCurrent) override
 
bool setMaxCurrent (const double maxCurrent) override
 
bool getMaxFreezeCurrent (double &current) override
 
bool setMaxFreezeCurrent (const double current) override
 
bool getMaxMotorVelocity (double &maxMotorVelocity) override
 
bool setMaxMotorVelocity (const double maxMotorVelocity) override
 
bool getMaxJointTorque (double &maxJointTorque) override
 
bool setMaxJointTorque (const double maxJointTorque) override
 
bool getCurrentIntegratorSaturation (double &saturation) override
 
bool setCurrentIntegratorSaturation (const double saturation) override
 
bool getJointTorqueIntegratorSaturation (double &saturation) override
 
bool setJointTorqueIntegratorSaturation (const double saturation) override
 
bool getDirection (int16_t &direction) override
 
bool setDirection (const int16_t direction) override
 
bool getJointPositionLimitsSoft (anydrive::common::Limits &limits) override
 
bool setJointPositionLimitsSoft (const anydrive::common::Limits &limits) override
 
bool getJointPositionLimitsHard (anydrive::common::Limits &limits) override
 
bool setJointPositionLimitsHard (const anydrive::common::Limits &limits) override
 
bool getControlGains (const anydrive::mode::ModeEnum mode, anydrive::mode::PidGainsF &pidGains) override
 
bool setControlGains (const anydrive::mode::ModeEnum mode, const anydrive::mode::PidGainsF &pidGains) override
 
bool getErrorStateBehavior (uint16_t &errorStateBehavior) override
 
bool setErrorStateBehavior (const uint16_t errorStateBehavior) override
 
bool getImuEnabled (bool &enabled) override
 
bool setImuEnable (const bool enable) override
 
bool getImuAccelerometerRange (uint32_t &range) override
 
bool setImuAccelerometerRange (const uint32_t range) override
 
bool getImuGyroscopeRange (uint32_t &range) override
 
bool setImuGyroscopeRange (const uint32_t range) override
 
bool getFanMode (uint32_t &mode) override
 
bool setFanMode (const uint32_t mode) override
 
bool getFanIntensity (uint32_t &intensity) override
 
bool setFanIntensity (const uint32_t intensity) override
 
bool getFanLowerTemperature (float &temperature) override
 
bool setFanLowerTemperature (const float temperature) override
 
bool getFanUpperTemperature (float &temperature) override
 
bool setFanUpperTemperature (const float temperature) override
 
bool getGearJointVelocityFilterType (uint32_t &type) override
 
bool setGearJointVelocityFilterType (const uint32_t type) override
 
bool getGearJointVelocityKfNoiseVariance (float &variance) override
 
bool setGearJointVelocityKfNoiseVariance (const float variance) override
 
bool getGearJointVelocityKfLambda2 (float &lambda) override
 
bool setGearJointVelocityKfLambda2 (const float lambda) override
 
bool getGearJointVelocityKfGamma (float &gamma) override
 
bool setGearJointVelocityKfGamma (const float gamma) override
 
bool getGearJointVelocityEmaAlpha (float &alpha) override
 
bool setGearJointVelocityEmaAlpha (const float alpha) override
 
bool getJointVelocityForAccelerationFilterType (uint32_t &type) override
 
bool setJointVelocityForAccelerationFilterType (const uint32_t type) override
 
bool getJointVelocityForAccelerationKfNoiseVariance (float &variance) override
 
bool setJointVelocityForAccelerationKfNoiseVariance (const float variance) override
 
bool getJointVelocityForAccelerationKfLambda2 (float &lambda) override
 
bool setJointVelocityForAccelerationKfLambda2 (const float lambda) override
 
bool getJointVelocityForAccelerationKfGamma (float &gamma) override
 
bool setJointVelocityForAccelerationKfGamma (const float gamma) override
 
bool getJointVelocityForAccelerationEmaAlpha (float &alpha) override
 
bool setJointVelocityForAccelerationEmaAlpha (const float alpha) override
 
bool getJointAccelerationFilterType (uint32_t &type) override
 
bool setJointAccelerationFilterType (const uint32_t type) override
 
bool getJointAccelerationKfNoiseVariance (float &variance) override
 
bool setJointAccelerationKfNoiseVariance (const float variance) override
 
bool getJointAccelerationKfLambda2 (float &lambda) override
 
bool setJointAccelerationKfLambda2 (const float lambda) override
 
bool getJointAccelerationKfGamma (float &gamma) override
 
bool setJointAccelerationKfGamma (const float gamma) override
 
bool getJointAccelerationEmaAlpha (float &alpha) override
 
bool setJointAccelerationEmaAlpha (const float alpha) override
 
bool writeConfiguration () override
 
bool requestStatusword () override
 
bool getStatusword (anydrive::Statusword &statusword) override
 
void setControlword (const uint16_t controlwordId) override
 
void resetControlword () override
 
void setCommand (const anydrive::Command &command) override
 
void getReading (anydrive::ReadingExtended &reading) override
 
bool getRtdlEnabled (bool &enabled) override
 
bool setRtdlEnable (const bool enable) override
 
bool setRtdlCommand (const uint16_t command) override
 
bool getRtdlStatus (uint16_t &status) override
 
bool getRtdlLoggingFrequency (uint16_t &frequency) override
 
bool setRtdlLoggingFrequency (const uint16_t frequency) override
 
bool getRtdlStreamingFrequency (uint16_t &frequency) override
 
bool setRtdlStreamingFrequency (const uint16_t frequency) override
 
bool getRtdlLastTimestamp (uint64_t &timestamp) override
 
- Public Member Functions inherited from anydrive::communication::CommunicationInterfaceBase
std::string getName () const
 
virtual bool setEthercatPdo (const std::string &pdo)
 

Protected Types

using RecMutex = std::recursive_mutex
 
using RecLock = std::lock_guard< RecMutex >
 
using PdoInfos = std::map< PdoTypeEnum, PdoInfo >
 

Protected Member Functions

bool configurePdo (const PdoTypeEnum pdoTypeEnum)
 
bool sendSdoReadString (const uint16_t index, std::string &string)
 
bool sendSdoWriteString (const uint16_t index, const std::string &string)
 
bool getCalibrationTypeEnum (anydrive::calibration::CalibrationTypeEnum &calibrationTypeEnum)
 
bool setCalibrationTypeEnum (const anydrive::calibration::CalibrationTypeEnum calibrationTypeEnum)
 
- Protected Member Functions inherited from anydrive::communication::CommunicationInterfaceBase
 CommunicationInterfaceBase (const AnydriveWeakPtr &anydrive)
 
virtual ~CommunicationInterfaceBase ()=default
 
void printWarnNotImplemented ()
 

Protected Attributes

RecMutex mutex_
 
const AnydriveEthercatBusWeakPtr bus_
 
const uint32_t address_ = 0
 
PdoInfos pdoInfos_
 
std::atomic< PdoTypeEnumpdoTypeEnum_
 
std::atomic< PdoTypeEnumcurrentPdoTypeEnum_
 
RecMutex readingMutex_
 
anydrive::ReadingExtended reading_
 
RecMutex commandMutex_
 
anydrive::Command command_
 
RecMutex controlwordIdMutex_
 
uint16_t controlwordId_ = 0
 
bool isRtdlRunning_ = false
 
- Protected Attributes inherited from anydrive::communication::CommunicationInterfaceBase
AnydriveWeakPtr anydrive_
 

Static Protected Attributes

static constexpr double rpmPerRadS_ = 60.0/(2.0*M_PI)
 
static constexpr double milliScaling_ = 1000.0
 
static constexpr double kiloScaling_ = 0.001
 
static constexpr double timeScaling_ = milliScaling_
 
static constexpr double gainScaling_ = 1.0
 
static constexpr double temperatureScaling_ = 100.0
 
static constexpr double motorVoltageScaling_ = 100.0
 
static constexpr double motorCurrentScaling_ = 1.0
 
static constexpr double motorPositionScaling_ = 1.0
 
static constexpr double motorVelocityScaling_ = kiloScaling_*rpmPerRadS_
 
static constexpr double gearPositionScaling_ = 1.0
 
static constexpr double gearVelocityScaling_ = rpmPerRadS_
 
static constexpr double jointPositionScaling_ = 1.0
 
static constexpr double jointVelocityScaling_ = rpmPerRadS_
 
static constexpr double jointAccelerationScaling_ = rpmPerRadS_
 
static constexpr double jointTorqueScaling_ = 1.0
 
static constexpr double timeScalingInv_ = 1.0/timeScaling_
 
static constexpr double gainScalingInv_ = 1.0/gainScaling_
 
static constexpr double temperatureScalingInv_ = 1.0/temperatureScaling_
 
static constexpr double motorVoltageScalingInv_ = 1.0/motorVoltageScaling_
 
static constexpr double motorCurrentScalingInv_ = 1.0/motorCurrentScaling_
 
static constexpr double motorPositionScalingInv_ = 1.0/motorPositionScaling_
 
static constexpr double motorVelocityScalingInv_ = 1.0/motorVelocityScaling_
 
static constexpr double gearPositionScalingInv_ = 1.0/gearPositionScaling_
 
static constexpr double gearVelocityScalingInv_ = 1.0/gearVelocityScaling_
 
static constexpr double jointPositionScalingInv_ = 1.0/jointPositionScaling_
 
static constexpr double jointVelocityScalingInv_ = 1.0/jointVelocityScaling_
 
static constexpr double jointAccelerationScalingInv_ = 1.0/jointAccelerationScaling_
 
static constexpr double jointTorqueScalingInv_ = 1.0/jointTorqueScaling_
 
static constexpr double temperatureOffset_ = -55.0
 
static std::map< anydrive::mode::ModeEnum, uint16_t > modeEnumToOdIndex_
 

Member Typedef Documentation

◆ PdoInfos

◆ RecLock

using anydrive_ethercat::AnydriveEthercatSlave::RecLock = std::lock_guard<RecMutex>
protected

◆ RecMutex

using anydrive_ethercat::AnydriveEthercatSlave::RecMutex = std::recursive_mutex
protected

Constructor & Destructor Documentation

◆ AnydriveEthercatSlave()

anydrive_ethercat::AnydriveEthercatSlave::AnydriveEthercatSlave ( const anydrive::AnydriveWeakPtr anydrive,
const AnydriveEthercatBusWeakPtr bus,
const uint32_t  address,
const PdoTypeEnum  pdoTypeEnum 
)

◆ ~AnydriveEthercatSlave()

virtual anydrive_ethercat::AnydriveEthercatSlave::~AnydriveEthercatSlave ( )
virtualdefault

Member Function Documentation

◆ calibrationIsRunning()

bool anydrive_ethercat::AnydriveEthercatSlave::calibrationIsRunning ( bool &  running)
overridevirtual

◆ configurePdo()

bool anydrive_ethercat::AnydriveEthercatSlave::configurePdo ( const PdoTypeEnum  pdoTypeEnum)
protected

◆ deviceIsMissing()

bool anydrive_ethercat::AnydriveEthercatSlave::deviceIsMissing ( ) const
overridevirtual

◆ eraseFlashStorage()

bool anydrive_ethercat::AnydriveEthercatSlave::eraseFlashStorage ( )
overridevirtual

◆ getAddress()

uint32_t anydrive_ethercat::AnydriveEthercatSlave::getAddress ( ) const

◆ getCalibrationFrictionEstimation()

bool anydrive_ethercat::AnydriveEthercatSlave::getCalibrationFrictionEstimation ( const anydrive::calibration::CalibrationTypeEnum  calibrationTypeEnum,
anydrive::calibration::parameter::FrictionEstimation frictionEstimation 
)
overridevirtual

◆ getCalibrationGearAndJointEncoderHoming()

bool anydrive_ethercat::AnydriveEthercatSlave::getCalibrationGearAndJointEncoderHoming ( const anydrive::calibration::CalibrationTypeEnum  calibrationTypeEnum,
anydrive::calibration::parameter::GearAndJointEncoderHoming gearAndJointEncoderHoming 
)
overridevirtual

◆ getCalibrationGearJointEncoderOffset()

bool anydrive_ethercat::AnydriveEthercatSlave::getCalibrationGearJointEncoderOffset ( const anydrive::calibration::CalibrationTypeEnum  calibrationTypeEnum,
anydrive::calibration::parameter::GearJointEncoderOffset gearJointEncoderOffset 
)
overridevirtual

◆ getCalibrationImuGyroscopeDcBias()

bool anydrive_ethercat::AnydriveEthercatSlave::getCalibrationImuGyroscopeDcBias ( const anydrive::calibration::CalibrationTypeEnum  calibrationTypeEnum,
anydrive::calibration::parameter::ImuGyroscopeDcBias imuGyroscopeDcBias 
)
overridevirtual

◆ getCalibrationMotorEncoderOffset()

bool anydrive_ethercat::AnydriveEthercatSlave::getCalibrationMotorEncoderOffset ( const anydrive::calibration::CalibrationTypeEnum  calibrationTypeEnum,
anydrive::calibration::parameter::MotorEncoderOffset motorEncoderOffset 
)
overridevirtual

◆ getCalibrationMotorEncoderParameters()

bool anydrive_ethercat::AnydriveEthercatSlave::getCalibrationMotorEncoderParameters ( const anydrive::calibration::CalibrationTypeEnum  calibrationTypeEnum,
anydrive::calibration::parameter::MotorEncoderParameters motorEncoderParameters 
)
overridevirtual

◆ getCalibrationSpringStiffness()

bool anydrive_ethercat::AnydriveEthercatSlave::getCalibrationSpringStiffness ( const anydrive::calibration::CalibrationTypeEnum  calibrationTypeEnum,
anydrive::calibration::parameter::SpringStiffness springStiffness 
)
overridevirtual

◆ getCalibrationState()

bool anydrive_ethercat::AnydriveEthercatSlave::getCalibrationState ( const anydrive::calibration::CalibrationTypeEnum  calibrationTypeEnum,
anydrive::calibration::CalibrationState calibrationState 
)
overridevirtual

◆ getCalibrationTypeEnum()

bool anydrive_ethercat::AnydriveEthercatSlave::getCalibrationTypeEnum ( anydrive::calibration::CalibrationTypeEnum calibrationTypeEnum)
protected

◆ getControlGains()

bool anydrive_ethercat::AnydriveEthercatSlave::getControlGains ( const anydrive::mode::ModeEnum  mode,
anydrive::mode::PidGainsF pidGains 
)
overridevirtual

◆ getCurrentIntegratorSaturation()

bool anydrive_ethercat::AnydriveEthercatSlave::getCurrentIntegratorSaturation ( double &  saturation)
overridevirtual

◆ getCurrentPdoInfo()

AnydriveEthercatSlave::PdoInfo anydrive_ethercat::AnydriveEthercatSlave::getCurrentPdoInfo ( ) const

◆ getCurrentPdoTypeEnum()

PdoTypeEnum anydrive_ethercat::AnydriveEthercatSlave::getCurrentPdoTypeEnum ( ) const

◆ getDirection()

bool anydrive_ethercat::AnydriveEthercatSlave::getDirection ( int16_t &  direction)
overridevirtual

◆ getDriveFirmwareInfo()

bool anydrive_ethercat::AnydriveEthercatSlave::getDriveFirmwareInfo ( anydrive::common::FirmwareInfo firmwareInfo)
overridevirtual

◆ getDriveInfoBootloaderVersion()

bool anydrive_ethercat::AnydriveEthercatSlave::getDriveInfoBootloaderVersion ( anydrive::common::Version bootloaderVersion)
overridevirtual

◆ getDriveInfoFirmwareVersion()

bool anydrive_ethercat::AnydriveEthercatSlave::getDriveInfoFirmwareVersion ( anydrive::common::Version firmwareVersion)
overridevirtual

◆ getDriveInfoId()

bool anydrive_ethercat::AnydriveEthercatSlave::getDriveInfoId ( uint16_t &  id)
overridevirtual

◆ getDriveInfoName()

bool anydrive_ethercat::AnydriveEthercatSlave::getDriveInfoName ( std::string &  name)
overridevirtual

◆ getDriveInfoSerialNumber()

bool anydrive_ethercat::AnydriveEthercatSlave::getDriveInfoSerialNumber ( std::string &  serialNumber)
overridevirtual

◆ getErrorStateBehavior()

bool anydrive_ethercat::AnydriveEthercatSlave::getErrorStateBehavior ( uint16_t &  errorStateBehavior)
overridevirtual

◆ getFanIntensity()

bool anydrive_ethercat::AnydriveEthercatSlave::getFanIntensity ( uint32_t &  intensity)
overridevirtual

◆ getFanLowerTemperature()

bool anydrive_ethercat::AnydriveEthercatSlave::getFanLowerTemperature ( float &  temperature)
overridevirtual

◆ getFanMode()

bool anydrive_ethercat::AnydriveEthercatSlave::getFanMode ( uint32_t &  mode)
overridevirtual

◆ getFanUpperTemperature()

bool anydrive_ethercat::AnydriveEthercatSlave::getFanUpperTemperature ( float &  temperature)
overridevirtual

◆ getGearboxRatio()

bool anydrive_ethercat::AnydriveEthercatSlave::getGearboxRatio ( uint32_t &  ratio)
overridevirtual

◆ getGearJointVelocityEmaAlpha()

bool anydrive_ethercat::AnydriveEthercatSlave::getGearJointVelocityEmaAlpha ( float &  alpha)
overridevirtual

◆ getGearJointVelocityFilterType()

bool anydrive_ethercat::AnydriveEthercatSlave::getGearJointVelocityFilterType ( uint32_t &  type)
overridevirtual

◆ getGearJointVelocityKfGamma()

bool anydrive_ethercat::AnydriveEthercatSlave::getGearJointVelocityKfGamma ( float &  gamma)
overridevirtual

◆ getGearJointVelocityKfLambda2()

bool anydrive_ethercat::AnydriveEthercatSlave::getGearJointVelocityKfLambda2 ( float &  lambda)
overridevirtual

◆ getGearJointVelocityKfNoiseVariance()

bool anydrive_ethercat::AnydriveEthercatSlave::getGearJointVelocityKfNoiseVariance ( float &  variance)
overridevirtual

◆ getImuAccelerometerRange()

bool anydrive_ethercat::AnydriveEthercatSlave::getImuAccelerometerRange ( uint32_t &  range)
overridevirtual

◆ getImuEnabled()

bool anydrive_ethercat::AnydriveEthercatSlave::getImuEnabled ( bool &  enabled)
overridevirtual

◆ getImuGyroscopeRange()

bool anydrive_ethercat::AnydriveEthercatSlave::getImuGyroscopeRange ( uint32_t &  range)
overridevirtual

◆ getJointAccelerationEmaAlpha()

bool anydrive_ethercat::AnydriveEthercatSlave::getJointAccelerationEmaAlpha ( float &  alpha)
overridevirtual

◆ getJointAccelerationFilterType()

bool anydrive_ethercat::AnydriveEthercatSlave::getJointAccelerationFilterType ( uint32_t &  type)
overridevirtual

◆ getJointAccelerationKfGamma()

bool anydrive_ethercat::AnydriveEthercatSlave::getJointAccelerationKfGamma ( float &  gamma)
overridevirtual

◆ getJointAccelerationKfLambda2()

bool anydrive_ethercat::AnydriveEthercatSlave::getJointAccelerationKfLambda2 ( float &  lambda)
overridevirtual

◆ getJointAccelerationKfNoiseVariance()

bool anydrive_ethercat::AnydriveEthercatSlave::getJointAccelerationKfNoiseVariance ( float &  variance)
overridevirtual

◆ getJointPositionLimitsHard()

bool anydrive_ethercat::AnydriveEthercatSlave::getJointPositionLimitsHard ( anydrive::common::Limits limits)
overridevirtual

◆ getJointPositionLimitsSoft()

bool anydrive_ethercat::AnydriveEthercatSlave::getJointPositionLimitsSoft ( anydrive::common::Limits limits)
overridevirtual

◆ getJointTorqueIntegratorSaturation()

bool anydrive_ethercat::AnydriveEthercatSlave::getJointTorqueIntegratorSaturation ( double &  saturation)
overridevirtual

◆ getJointVelocityForAccelerationEmaAlpha()

bool anydrive_ethercat::AnydriveEthercatSlave::getJointVelocityForAccelerationEmaAlpha ( float &  alpha)
overridevirtual

◆ getJointVelocityForAccelerationFilterType()

bool anydrive_ethercat::AnydriveEthercatSlave::getJointVelocityForAccelerationFilterType ( uint32_t &  type)
overridevirtual

◆ getJointVelocityForAccelerationKfGamma()

bool anydrive_ethercat::AnydriveEthercatSlave::getJointVelocityForAccelerationKfGamma ( float &  gamma)
overridevirtual

◆ getJointVelocityForAccelerationKfLambda2()

bool anydrive_ethercat::AnydriveEthercatSlave::getJointVelocityForAccelerationKfLambda2 ( float &  lambda)
overridevirtual

◆ getJointVelocityForAccelerationKfNoiseVariance()

bool anydrive_ethercat::AnydriveEthercatSlave::getJointVelocityForAccelerationKfNoiseVariance ( float &  variance)
overridevirtual

◆ getMaxCurrent()

bool anydrive_ethercat::AnydriveEthercatSlave::getMaxCurrent ( double &  maxCurrent)
overridevirtual

◆ getMaxFreezeCurrent()

bool anydrive_ethercat::AnydriveEthercatSlave::getMaxFreezeCurrent ( double &  current)
overridevirtual

◆ getMaxJointTorque()

bool anydrive_ethercat::AnydriveEthercatSlave::getMaxJointTorque ( double &  maxJointTorque)
overridevirtual

◆ getMaxMotorVelocity()

bool anydrive_ethercat::AnydriveEthercatSlave::getMaxMotorVelocity ( double &  maxMotorVelocity)
overridevirtual

◆ getReading()

void anydrive_ethercat::AnydriveEthercatSlave::getReading ( anydrive::ReadingExtended reading)
overridevirtual

◆ getRtdlEnabled()

bool anydrive_ethercat::AnydriveEthercatSlave::getRtdlEnabled ( bool &  enabled)
overridevirtual

◆ getRtdlLastTimestamp()

bool anydrive_ethercat::AnydriveEthercatSlave::getRtdlLastTimestamp ( uint64_t &  timestamp)
overridevirtual

◆ getRtdlLoggingFrequency()

bool anydrive_ethercat::AnydriveEthercatSlave::getRtdlLoggingFrequency ( uint16_t &  frequency)
overridevirtual

◆ getRtdlStatus()

bool anydrive_ethercat::AnydriveEthercatSlave::getRtdlStatus ( uint16_t &  status)
overridevirtual

◆ getRtdlStreamingFrequency()

bool anydrive_ethercat::AnydriveEthercatSlave::getRtdlStreamingFrequency ( uint16_t &  frequency)
overridevirtual

◆ getStatusword()

bool anydrive_ethercat::AnydriveEthercatSlave::getStatusword ( anydrive::Statusword statusword)
overridevirtual

◆ receivesGearAndJointEncoderTicks()

bool anydrive_ethercat::AnydriveEthercatSlave::receivesGearAndJointEncoderTicks ( ) const
overridevirtual

◆ requestStatusword()

bool anydrive_ethercat::AnydriveEthercatSlave::requestStatusword ( )
overridevirtual

◆ resetControlword()

void anydrive_ethercat::AnydriveEthercatSlave::resetControlword ( )
overridevirtual

◆ resetCustomCalibrationsToFactory()

bool anydrive_ethercat::AnydriveEthercatSlave::resetCustomCalibrationsToFactory ( const anydrive::calibration::CalibrationState  calibrationState)
overridevirtual

◆ resetFlashStorageSections()

bool anydrive_ethercat::AnydriveEthercatSlave::resetFlashStorageSections ( const uint16_t  flashStorageSections)
overridevirtual

◆ sendCalibrationGearAndJointEncoderHomingNewJointPosition()

bool anydrive_ethercat::AnydriveEthercatSlave::sendCalibrationGearAndJointEncoderHomingNewJointPosition ( const double  newJointPosition)
overridevirtual

◆ sendSdoRead()

template<typename Value >
template bool anydrive_ethercat::AnydriveEthercatSlave::sendSdoRead< double > ( const uint16_t  index,
const uint8_t  subindex,
const bool  completeAccess,
Value &  value 
)

Send a reading SDO.

Parameters
indexIndex of the SDO.
subindexSub-index of the SDO.
completeAccessAccess all sub-inidices at once.
valueReturn argument, will contain the value which was read.
Returns
True if successful.

◆ sendSdoReadDouble()

bool anydrive_ethercat::AnydriveEthercatSlave::sendSdoReadDouble ( const uint16_t  index,
const uint8_t  subindex,
const bool  completeAccess,
double &  value 
)
overridevirtual

◆ sendSdoReadFloat()

bool anydrive_ethercat::AnydriveEthercatSlave::sendSdoReadFloat ( const uint16_t  index,
const uint8_t  subindex,
const bool  completeAccess,
float &  value 
)
overridevirtual

◆ sendSdoReadGeneric()

bool anydrive_ethercat::AnydriveEthercatSlave::sendSdoReadGeneric ( const std::string &  indexString,
const std::string &  subindexString,
const std::string &  valueTypeString,
std::string &  valueString 
)
overridevirtual

◆ sendSdoReadInt16()

bool anydrive_ethercat::AnydriveEthercatSlave::sendSdoReadInt16 ( const uint16_t  index,
const uint8_t  subindex,
const bool  completeAccess,
int16_t &  value 
)
overridevirtual

◆ sendSdoReadInt32()

bool anydrive_ethercat::AnydriveEthercatSlave::sendSdoReadInt32 ( const uint16_t  index,
const uint8_t  subindex,
const bool  completeAccess,
int32_t &  value 
)
overridevirtual

◆ sendSdoReadInt64()

bool anydrive_ethercat::AnydriveEthercatSlave::sendSdoReadInt64 ( const uint16_t  index,
const uint8_t  subindex,
const bool  completeAccess,
int64_t &  value 
)
overridevirtual

◆ sendSdoReadInt8()

bool anydrive_ethercat::AnydriveEthercatSlave::sendSdoReadInt8 ( const uint16_t  index,
const uint8_t  subindex,
const bool  completeAccess,
int8_t &  value 
)
overridevirtual

◆ sendSdoReadString()

bool anydrive_ethercat::AnydriveEthercatSlave::sendSdoReadString ( const uint16_t  index,
std::string &  string 
)
protected

◆ sendSdoReadUInt16()

bool anydrive_ethercat::AnydriveEthercatSlave::sendSdoReadUInt16 ( const uint16_t  index,
const uint8_t  subindex,
const bool  completeAccess,
uint16_t &  value 
)
overridevirtual

◆ sendSdoReadUInt32()

bool anydrive_ethercat::AnydriveEthercatSlave::sendSdoReadUInt32 ( const uint16_t  index,
const uint8_t  subindex,
const bool  completeAccess,
uint32_t &  value 
)
overridevirtual

◆ sendSdoReadUInt64()

bool anydrive_ethercat::AnydriveEthercatSlave::sendSdoReadUInt64 ( const uint16_t  index,
const uint8_t  subindex,
const bool  completeAccess,
uint64_t &  value 
)
overridevirtual

◆ sendSdoReadUInt8()

bool anydrive_ethercat::AnydriveEthercatSlave::sendSdoReadUInt8 ( const uint16_t  index,
const uint8_t  subindex,
const bool  completeAccess,
uint8_t &  value 
)
overridevirtual

◆ sendSdoWrite()

template<typename Value >
template bool anydrive_ethercat::AnydriveEthercatSlave::sendSdoWrite< double > ( const uint16_t  index,
const uint8_t  subindex,
const bool  completeAccess,
const Value  value 
)

Send a writing SDO.

Parameters
indexIndex of the SDO.
subindexSub-index of the SDO.
completeAccessAccess all sub-inidices at once.
valueValue to write.
Returns
True if successful.

◆ sendSdoWriteDouble()

bool anydrive_ethercat::AnydriveEthercatSlave::sendSdoWriteDouble ( const uint16_t  index,
const uint8_t  subindex,
const bool  completeAccess,
const double  value 
)
overridevirtual

◆ sendSdoWriteFloat()

bool anydrive_ethercat::AnydriveEthercatSlave::sendSdoWriteFloat ( const uint16_t  index,
const uint8_t  subindex,
const bool  completeAccess,
const float  value 
)
overridevirtual

◆ sendSdoWriteGeneric()

bool anydrive_ethercat::AnydriveEthercatSlave::sendSdoWriteGeneric ( const std::string &  indexString,
const std::string &  subindexString,
const std::string &  valueTypeString,
const std::string &  valueString 
)
overridevirtual

◆ sendSdoWriteInt16()

bool anydrive_ethercat::AnydriveEthercatSlave::sendSdoWriteInt16 ( const uint16_t  index,
const uint8_t  subindex,
const bool  completeAccess,
const int16_t  value 
)
overridevirtual

◆ sendSdoWriteInt32()

bool anydrive_ethercat::AnydriveEthercatSlave::sendSdoWriteInt32 ( const uint16_t  index,
const uint8_t  subindex,
const bool  completeAccess,
const int32_t  value 
)
overridevirtual

◆ sendSdoWriteInt64()

bool anydrive_ethercat::AnydriveEthercatSlave::sendSdoWriteInt64 ( const uint16_t  index,
const uint8_t  subindex,
const bool  completeAccess,
const int64_t  value 
)
overridevirtual

◆ sendSdoWriteInt8()

bool anydrive_ethercat::AnydriveEthercatSlave::sendSdoWriteInt8 ( const uint16_t  index,
const uint8_t  subindex,
const bool  completeAccess,
const int8_t  value 
)
overridevirtual

◆ sendSdoWriteString()

bool anydrive_ethercat::AnydriveEthercatSlave::sendSdoWriteString ( const uint16_t  index,
const std::string &  string 
)
protected

◆ sendSdoWriteUInt16()

bool anydrive_ethercat::AnydriveEthercatSlave::sendSdoWriteUInt16 ( const uint16_t  index,
const uint8_t  subindex,
const bool  completeAccess,
const uint16_t  value 
)
overridevirtual

◆ sendSdoWriteUInt32()

bool anydrive_ethercat::AnydriveEthercatSlave::sendSdoWriteUInt32 ( const uint16_t  index,
const uint8_t  subindex,
const bool  completeAccess,
const uint32_t  value 
)
overridevirtual

◆ sendSdoWriteUInt64()

bool anydrive_ethercat::AnydriveEthercatSlave::sendSdoWriteUInt64 ( const uint16_t  index,
const uint8_t  subindex,
const bool  completeAccess,
const uint64_t  value 
)
overridevirtual

◆ sendSdoWriteUInt8()

bool anydrive_ethercat::AnydriveEthercatSlave::sendSdoWriteUInt8 ( const uint16_t  index,
const uint8_t  subindex,
const bool  completeAccess,
const uint8_t  value 
)
overridevirtual

◆ setCalibrationFrictionEstimation()

bool anydrive_ethercat::AnydriveEthercatSlave::setCalibrationFrictionEstimation ( const anydrive::calibration::CalibrationTypeEnum  calibrationTypeEnum,
const anydrive::calibration::parameter::FrictionEstimation frictionEstimation 
)
overridevirtual

◆ setCalibrationSpringStiffness()

bool anydrive_ethercat::AnydriveEthercatSlave::setCalibrationSpringStiffness ( const anydrive::calibration::CalibrationTypeEnum  calibrationTypeEnum,
const anydrive::calibration::parameter::SpringStiffness springStiffness 
)
overridevirtual

◆ setCalibrationTypeEnum()

bool anydrive_ethercat::AnydriveEthercatSlave::setCalibrationTypeEnum ( const anydrive::calibration::CalibrationTypeEnum  calibrationTypeEnum)
protected

◆ setCommand()

void anydrive_ethercat::AnydriveEthercatSlave::setCommand ( const anydrive::Command command)
overridevirtual

◆ setControlGains()

bool anydrive_ethercat::AnydriveEthercatSlave::setControlGains ( const anydrive::mode::ModeEnum  mode,
const anydrive::mode::PidGainsF pidGains 
)
overridevirtual

◆ setControlword()

void anydrive_ethercat::AnydriveEthercatSlave::setControlword ( const uint16_t  controlwordId)
overridevirtual

◆ setCurrentIntegratorSaturation()

bool anydrive_ethercat::AnydriveEthercatSlave::setCurrentIntegratorSaturation ( const double  saturation)
overridevirtual

◆ setDirection()

bool anydrive_ethercat::AnydriveEthercatSlave::setDirection ( const int16_t  direction)
overridevirtual

◆ setDriveInfoBootloaderVersion()

bool anydrive_ethercat::AnydriveEthercatSlave::setDriveInfoBootloaderVersion ( const anydrive::common::Version bootloaderVersion)
overridevirtual

◆ setDriveInfoId()

bool anydrive_ethercat::AnydriveEthercatSlave::setDriveInfoId ( const uint16_t  id)
overridevirtual

◆ setDriveInfoName()

bool anydrive_ethercat::AnydriveEthercatSlave::setDriveInfoName ( const std::string &  name)
overridevirtual

◆ setDriveInfoSerialNumber()

bool anydrive_ethercat::AnydriveEthercatSlave::setDriveInfoSerialNumber ( const std::string &  serialNumber)
overridevirtual

◆ setErrorStateBehavior()

bool anydrive_ethercat::AnydriveEthercatSlave::setErrorStateBehavior ( const uint16_t  errorStateBehavior)
overridevirtual

◆ setFanIntensity()

bool anydrive_ethercat::AnydriveEthercatSlave::setFanIntensity ( const uint32_t  intensity)
overridevirtual

◆ setFanLowerTemperature()

bool anydrive_ethercat::AnydriveEthercatSlave::setFanLowerTemperature ( const float  temperature)
overridevirtual

◆ setFanMode()

bool anydrive_ethercat::AnydriveEthercatSlave::setFanMode ( const uint32_t  mode)
overridevirtual

◆ setFanUpperTemperature()

bool anydrive_ethercat::AnydriveEthercatSlave::setFanUpperTemperature ( const float  temperature)
overridevirtual

◆ setGearJointVelocityEmaAlpha()

bool anydrive_ethercat::AnydriveEthercatSlave::setGearJointVelocityEmaAlpha ( const float  alpha)
overridevirtual

◆ setGearJointVelocityFilterType()

bool anydrive_ethercat::AnydriveEthercatSlave::setGearJointVelocityFilterType ( const uint32_t  type)
overridevirtual

◆ setGearJointVelocityKfGamma()

bool anydrive_ethercat::AnydriveEthercatSlave::setGearJointVelocityKfGamma ( const float  gamma)
overridevirtual

◆ setGearJointVelocityKfLambda2()

bool anydrive_ethercat::AnydriveEthercatSlave::setGearJointVelocityKfLambda2 ( const float  lambda)
overridevirtual

◆ setGearJointVelocityKfNoiseVariance()

bool anydrive_ethercat::AnydriveEthercatSlave::setGearJointVelocityKfNoiseVariance ( const float  variance)
overridevirtual

◆ setImuAccelerometerRange()

bool anydrive_ethercat::AnydriveEthercatSlave::setImuAccelerometerRange ( const uint32_t  range)
overridevirtual

◆ setImuEnable()

bool anydrive_ethercat::AnydriveEthercatSlave::setImuEnable ( const bool  enable)
overridevirtual

◆ setImuGyroscopeRange()

bool anydrive_ethercat::AnydriveEthercatSlave::setImuGyroscopeRange ( const uint32_t  range)
overridevirtual

◆ setJointAccelerationEmaAlpha()

bool anydrive_ethercat::AnydriveEthercatSlave::setJointAccelerationEmaAlpha ( const float  alpha)
overridevirtual

◆ setJointAccelerationFilterType()

bool anydrive_ethercat::AnydriveEthercatSlave::setJointAccelerationFilterType ( const uint32_t  type)
overridevirtual

◆ setJointAccelerationKfGamma()

bool anydrive_ethercat::AnydriveEthercatSlave::setJointAccelerationKfGamma ( const float  gamma)
overridevirtual

◆ setJointAccelerationKfLambda2()

bool anydrive_ethercat::AnydriveEthercatSlave::setJointAccelerationKfLambda2 ( const float  lambda)
overridevirtual

◆ setJointAccelerationKfNoiseVariance()

bool anydrive_ethercat::AnydriveEthercatSlave::setJointAccelerationKfNoiseVariance ( const float  variance)
overridevirtual

◆ setJointPositionLimitsHard()

bool anydrive_ethercat::AnydriveEthercatSlave::setJointPositionLimitsHard ( const anydrive::common::Limits limits)
overridevirtual

◆ setJointPositionLimitsSoft()

bool anydrive_ethercat::AnydriveEthercatSlave::setJointPositionLimitsSoft ( const anydrive::common::Limits limits)
overridevirtual

◆ setJointTorqueIntegratorSaturation()

bool anydrive_ethercat::AnydriveEthercatSlave::setJointTorqueIntegratorSaturation ( const double  saturation)
overridevirtual

◆ setJointVelocityForAccelerationEmaAlpha()

bool anydrive_ethercat::AnydriveEthercatSlave::setJointVelocityForAccelerationEmaAlpha ( const float  alpha)
overridevirtual

◆ setJointVelocityForAccelerationFilterType()

bool anydrive_ethercat::AnydriveEthercatSlave::setJointVelocityForAccelerationFilterType ( const uint32_t  type)
overridevirtual

◆ setJointVelocityForAccelerationKfGamma()

bool anydrive_ethercat::AnydriveEthercatSlave::setJointVelocityForAccelerationKfGamma ( const float  gamma)
overridevirtual

◆ setJointVelocityForAccelerationKfLambda2()

bool anydrive_ethercat::AnydriveEthercatSlave::setJointVelocityForAccelerationKfLambda2 ( const float  lambda)
overridevirtual

◆ setJointVelocityForAccelerationKfNoiseVariance()

bool anydrive_ethercat::AnydriveEthercatSlave::setJointVelocityForAccelerationKfNoiseVariance ( const float  variance)
overridevirtual

◆ setMaxCurrent()

bool anydrive_ethercat::AnydriveEthercatSlave::setMaxCurrent ( const double  maxCurrent)
overridevirtual

◆ setMaxFreezeCurrent()

bool anydrive_ethercat::AnydriveEthercatSlave::setMaxFreezeCurrent ( const double  current)
overridevirtual

◆ setMaxJointTorque()

bool anydrive_ethercat::AnydriveEthercatSlave::setMaxJointTorque ( const double  maxJointTorque)
overridevirtual

◆ setMaxMotorVelocity()

bool anydrive_ethercat::AnydriveEthercatSlave::setMaxMotorVelocity ( const double  maxMotorVelocity)
overridevirtual

◆ setRtdlCommand()

bool anydrive_ethercat::AnydriveEthercatSlave::setRtdlCommand ( const uint16_t  command)
overridevirtual

◆ setRtdlEnable()

bool anydrive_ethercat::AnydriveEthercatSlave::setRtdlEnable ( const bool  enable)
overridevirtual

◆ setRtdlLoggingFrequency()

bool anydrive_ethercat::AnydriveEthercatSlave::setRtdlLoggingFrequency ( const uint16_t  frequency)
overridevirtual

◆ setRtdlStreamingFrequency()

bool anydrive_ethercat::AnydriveEthercatSlave::setRtdlStreamingFrequency ( const uint16_t  frequency)
overridevirtual

◆ setState()

void anydrive_ethercat::AnydriveEthercatSlave::setState ( const uint16_t  state)

◆ shutdown()

void anydrive_ethercat::AnydriveEthercatSlave::shutdown ( )
overridevirtual

◆ startCalibration()

bool anydrive_ethercat::AnydriveEthercatSlave::startCalibration ( const anydrive::calibration::CalibrationModeEnum  calibrationModeEnum)
overridevirtual

◆ startup()

bool anydrive_ethercat::AnydriveEthercatSlave::startup ( )
overridevirtual

◆ updateRead()

void anydrive_ethercat::AnydriveEthercatSlave::updateRead ( )
overridevirtual

◆ updateWrite()

void anydrive_ethercat::AnydriveEthercatSlave::updateWrite ( )
overridevirtual

◆ waitForState()

bool anydrive_ethercat::AnydriveEthercatSlave::waitForState ( const uint16_t  state)

◆ writeConfiguration()

bool anydrive_ethercat::AnydriveEthercatSlave::writeConfiguration ( )
overridevirtual

◆ writeFactoryCalibration()

bool anydrive_ethercat::AnydriveEthercatSlave::writeFactoryCalibration ( )
overridevirtual

Member Data Documentation

◆ address_

const uint32_t anydrive_ethercat::AnydriveEthercatSlave::address_ = 0
protected

◆ bus_

const AnydriveEthercatBusWeakPtr anydrive_ethercat::AnydriveEthercatSlave::bus_
protected

◆ command_

anydrive::Command anydrive_ethercat::AnydriveEthercatSlave::command_
protected

◆ commandMutex_

RecMutex anydrive_ethercat::AnydriveEthercatSlave::commandMutex_
mutableprotected

◆ controlwordId_

uint16_t anydrive_ethercat::AnydriveEthercatSlave::controlwordId_ = 0
protected

◆ controlwordIdMutex_

RecMutex anydrive_ethercat::AnydriveEthercatSlave::controlwordIdMutex_
mutableprotected

◆ currentPdoTypeEnum_

std::atomic<PdoTypeEnum> anydrive_ethercat::AnydriveEthercatSlave::currentPdoTypeEnum_
protected

◆ gainScaling_

constexpr double anydrive_ethercat::AnydriveEthercatSlave::gainScaling_ = 1.0
staticprotected

◆ gainScalingInv_

constexpr double anydrive_ethercat::AnydriveEthercatSlave::gainScalingInv_ = 1.0/gainScaling_
staticprotected

◆ gearPositionScaling_

constexpr double anydrive_ethercat::AnydriveEthercatSlave::gearPositionScaling_ = 1.0
staticprotected

◆ gearPositionScalingInv_

constexpr double anydrive_ethercat::AnydriveEthercatSlave::gearPositionScalingInv_ = 1.0/gearPositionScaling_
staticprotected

◆ gearVelocityScaling_

constexpr double anydrive_ethercat::AnydriveEthercatSlave::gearVelocityScaling_ = rpmPerRadS_
staticprotected

◆ gearVelocityScalingInv_

constexpr double anydrive_ethercat::AnydriveEthercatSlave::gearVelocityScalingInv_ = 1.0/gearVelocityScaling_
staticprotected

◆ isRtdlRunning_

bool anydrive_ethercat::AnydriveEthercatSlave::isRtdlRunning_ = false
protected

◆ jointAccelerationScaling_

constexpr double anydrive_ethercat::AnydriveEthercatSlave::jointAccelerationScaling_ = rpmPerRadS_
staticprotected

◆ jointAccelerationScalingInv_

constexpr double anydrive_ethercat::AnydriveEthercatSlave::jointAccelerationScalingInv_ = 1.0/jointAccelerationScaling_
staticprotected

◆ jointPositionScaling_

constexpr double anydrive_ethercat::AnydriveEthercatSlave::jointPositionScaling_ = 1.0
staticprotected

◆ jointPositionScalingInv_

constexpr double anydrive_ethercat::AnydriveEthercatSlave::jointPositionScalingInv_ = 1.0/jointPositionScaling_
staticprotected

◆ jointTorqueScaling_

constexpr double anydrive_ethercat::AnydriveEthercatSlave::jointTorqueScaling_ = 1.0
staticprotected

◆ jointTorqueScalingInv_

constexpr double anydrive_ethercat::AnydriveEthercatSlave::jointTorqueScalingInv_ = 1.0/jointTorqueScaling_
staticprotected

◆ jointVelocityScaling_

constexpr double anydrive_ethercat::AnydriveEthercatSlave::jointVelocityScaling_ = rpmPerRadS_
staticprotected

◆ jointVelocityScalingInv_

constexpr double anydrive_ethercat::AnydriveEthercatSlave::jointVelocityScalingInv_ = 1.0/jointVelocityScaling_
staticprotected

◆ kiloScaling_

constexpr double anydrive_ethercat::AnydriveEthercatSlave::kiloScaling_ = 0.001
staticprotected

◆ milliScaling_

constexpr double anydrive_ethercat::AnydriveEthercatSlave::milliScaling_ = 1000.0
staticprotected

◆ modeEnumToOdIndex_

◆ motorCurrentScaling_

constexpr double anydrive_ethercat::AnydriveEthercatSlave::motorCurrentScaling_ = 1.0
staticprotected

◆ motorCurrentScalingInv_

constexpr double anydrive_ethercat::AnydriveEthercatSlave::motorCurrentScalingInv_ = 1.0/motorCurrentScaling_
staticprotected

◆ motorPositionScaling_

constexpr double anydrive_ethercat::AnydriveEthercatSlave::motorPositionScaling_ = 1.0
staticprotected

◆ motorPositionScalingInv_

constexpr double anydrive_ethercat::AnydriveEthercatSlave::motorPositionScalingInv_ = 1.0/motorPositionScaling_
staticprotected

◆ motorVelocityScaling_

constexpr double anydrive_ethercat::AnydriveEthercatSlave::motorVelocityScaling_ = kiloScaling_*rpmPerRadS_
staticprotected

◆ motorVelocityScalingInv_

constexpr double anydrive_ethercat::AnydriveEthercatSlave::motorVelocityScalingInv_ = 1.0/motorVelocityScaling_
staticprotected

◆ motorVoltageScaling_

constexpr double anydrive_ethercat::AnydriveEthercatSlave::motorVoltageScaling_ = 100.0
staticprotected

◆ motorVoltageScalingInv_

constexpr double anydrive_ethercat::AnydriveEthercatSlave::motorVoltageScalingInv_ = 1.0/motorVoltageScaling_
staticprotected

◆ mutex_

RecMutex anydrive_ethercat::AnydriveEthercatSlave::mutex_
mutableprotected

◆ pdoInfos_

PdoInfos anydrive_ethercat::AnydriveEthercatSlave::pdoInfos_
protected

◆ pdoTypeEnum_

std::atomic<PdoTypeEnum> anydrive_ethercat::AnydriveEthercatSlave::pdoTypeEnum_
protected

◆ reading_

anydrive::ReadingExtended anydrive_ethercat::AnydriveEthercatSlave::reading_
protected

◆ readingMutex_

RecMutex anydrive_ethercat::AnydriveEthercatSlave::readingMutex_
mutableprotected

◆ rpmPerRadS_

constexpr double anydrive_ethercat::AnydriveEthercatSlave::rpmPerRadS_ = 60.0/(2.0*M_PI)
staticprotected

◆ temperatureOffset_

constexpr double anydrive_ethercat::AnydriveEthercatSlave::temperatureOffset_ = -55.0
staticprotected

◆ temperatureScaling_

constexpr double anydrive_ethercat::AnydriveEthercatSlave::temperatureScaling_ = 100.0
staticprotected

◆ temperatureScalingInv_

constexpr double anydrive_ethercat::AnydriveEthercatSlave::temperatureScalingInv_ = 1.0/temperatureScaling_
staticprotected

◆ timeScaling_

constexpr double anydrive_ethercat::AnydriveEthercatSlave::timeScaling_ = milliScaling_
staticprotected

◆ timeScalingInv_

constexpr double anydrive_ethercat::AnydriveEthercatSlave::timeScalingInv_ = 1.0/timeScaling_
staticprotected

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