Class that abstracts operations with the ODrive/. More...

Public Member Functions
	OdriveController ()=default

	~OdriveController ()=default

	OdriveController (FlexCAN_T4< CAN, RX_SIZE_256, TX_SIZE_256 > &odrive_can, int CAN_ID, ODriveUserData &odrv_user_data)
	Constructor for the ODriveController.

bool	set_params ()
	Set parameters on the ODrive.

bool	full_calibration ()
	Run the full calibration sequence given by ODrive.

bool	move_to_limits ()
	Move to the upper and lower limits of the joint.

bool	enable_anticogging (bool doCalibration=false)
	Set parameters for anticogging and enable it.

bool	startup_odrive_checks ()
	Set parameters and set the motor to torque control.

void	set_torque (float torque)
	Function to set the torque values based on the joint limits recorded from the startup_calibration.

Public Attributes
FlexCAN_T4< CAN, RX_SIZE_256, TX_SIZE_256 > &	odrive_can_
	Address of canline for this odrive.

ODriveCAN	odrv_
	Odrive object to control.

ODriveUserData &	odrv_user_data_
	struct to store user data in

Limits< float >	motor_limits_
	: Limits on motor torques

float	alpha_ = 0.95

Detailed Description

template<CAN_DEV_TABLE CAN>
class OdriveController< CAN >

Class that abstracts operations with the ODrive/.

Template Parameters

CAN	- CAN bus that the ODrive is connected to

Definition at line 15 of file odrive_controller.hpp.

Constructor & Destructor Documentation

◆ OdriveController() [1/2]

template<CAN_DEV_TABLE CAN>

OdriveController< CAN >::OdriveController ( )

default

◆ ~OdriveController()

template<CAN_DEV_TABLE CAN>

OdriveController< CAN >::~OdriveController ( )

default

◆ OdriveController() [2/2]

template<CAN_DEV_TABLE CAN>

OdriveController< CAN >::OdriveController	(	FlexCAN_T4< CAN, RX_SIZE_256, TX_SIZE_256 > &	odrive_can,
		int	CAN_ID,
		ODriveUserData &	odrv_user_data )

inline

Constructor for the ODriveController.

Parameters

odrive_can	- CAN bus that the ODrive is connected to
CAN_ID	- CAN ID of the ODrive
odrv_user_data	Reference to the ODriveUserData object

Definition at line 25 of file odrive_controller.hpp.

References ODriveUserData::node_id, OdriveController< CAN >::odrv_, OdriveController< CAN >::odrv_user_data_, onFeedback(), onHeartbeat(), and onTemperature().

Member Function Documentation

◆ enable_anticogging()

template<CAN_DEV_TABLE CAN>

bool OdriveController< CAN >::enable_anticogging ( bool doCalibration = false )

inline

Set parameters for anticogging and enable it.

Parameters

doCalibration - If true, will run the anticogging calibration

Definition at line 115 of file odrive_controller.hpp.

References Set_Reboot_msg_t::Action, banticogging_config_params(), benable_config_param, Set_Param_msg_t< T >::Endpoint_ID, fanticogging_config_params(), OdriveController< CAN >::odrive_can_, OdriveController< CAN >::odrv_, and Set_Param_msg_t< T >::Value.

◆ full_calibration()

template<CAN_DEV_TABLE CAN>

bool OdriveController< CAN >::full_calibration ( )

inline

Run the full calibration sequence given by ODrive.

Definition at line 84 of file odrive_controller.hpp.

References OdriveController< CAN >::odrv_.

◆ move_to_limits()

template<CAN_DEV_TABLE CAN>

bool OdriveController< CAN >::move_to_limits ( )

inline

Move to the upper and lower limits of the joint.

Definition at line 94 of file odrive_controller.hpp.

References Limits< T >::lower, OdriveController< CAN >::motor_limits_, OdriveController< CAN >::odrv_, and Limits< T >::upper.

◆ set_params()

template<CAN_DEV_TABLE CAN>

bool OdriveController< CAN >::set_params ( )

inline

Set parameters on the ODrive.

Definition at line 54 of file odrive_controller.hpp.

References bconfig_params(), Set_Param_msg_t< T >::Endpoint_ID, fconfig_params(), OdriveController< CAN >::odrive_can_, OdriveController< CAN >::odrv_, and Set_Param_msg_t< T >::Value.

Referenced by OdriveController< CAN >::startup_odrive_checks().

◆ set_torque()

template<CAN_DEV_TABLE CAN>

void OdriveController< CAN >::set_torque ( float torque )

inline

Function to set the torque values based on the joint limits recorded from the startup_calibration.

Parameters

torque Requested torque in N/m

Note: torque is reduced when entering the buffer region.

Definition at line 190 of file odrive_controller.hpp.

References OdriveController< CAN >::alpha_, ODriveUserData::last_feedback, Limits< T >::lower, OdriveController< CAN >::motor_limits_, OdriveController< CAN >::odrv_, OdriveController< CAN >::odrv_user_data_, pos, and Limits< T >::upper.

◆ startup_odrive_checks()

template<CAN_DEV_TABLE CAN>

bool OdriveController< CAN >::startup_odrive_checks ( )

inline

Set parameters and set the motor to torque control.

Definition at line 170 of file odrive_controller.hpp.

References OdriveController< CAN >::odrv_, and OdriveController< CAN >::set_params().

Referenced by CommsController< ODRIVE_CAN0, ODRIVE_CAN1 >::Initialize().

Member Data Documentation

◆ alpha_

template<CAN_DEV_TABLE CAN>

float OdriveController< CAN >::alpha_ = 0.95

Definition at line 51 of file odrive_controller.hpp.

Referenced by OdriveController< CAN >::set_torque().

◆ motor_limits_

template<CAN_DEV_TABLE CAN>

Limits<float> OdriveController< CAN >::motor_limits_

: Limits on motor torques

Definition at line 49 of file odrive_controller.hpp.

Referenced by OdriveController< CAN >::move_to_limits(), and OdriveController< CAN >::set_torque().

◆ odrive_can_

template<CAN_DEV_TABLE CAN>

FlexCAN_T4<CAN, RX_SIZE_256, TX_SIZE_256>& OdriveController< CAN >::odrive_can_

Address of canline for this odrive.

Definition at line 40 of file odrive_controller.hpp.

Referenced by OdriveController< CAN >::enable_anticogging(), and OdriveController< CAN >::set_params().

◆ odrv_

template<CAN_DEV_TABLE CAN>

ODriveCAN OdriveController< CAN >::odrv_

Odrive object to control.

Definition at line 43 of file odrive_controller.hpp.

Referenced by OdriveController< CAN >::enable_anticogging(), OdriveController< CAN >::full_calibration(), CommsController< ODRIVE_CAN0, ODRIVE_CAN1 >::get_odrv0(), CommsController< ODRIVE_CAN0, ODRIVE_CAN1 >::get_odrv1(), OdriveController< CAN >::move_to_limits(), OdriveController< CAN >::OdriveController(), onOdriveCanMessage(), OdriveController< CAN >::set_params(), OdriveController< CAN >::set_torque(), and OdriveController< CAN >::startup_odrive_checks().

◆ odrv_user_data_

template<CAN_DEV_TABLE CAN>

ODriveUserData& OdriveController< CAN >::odrv_user_data_

struct to store user data in

Definition at line 46 of file odrive_controller.hpp.

Referenced by CommsController< ODRIVE_CAN0, ODRIVE_CAN1 >::comms_timeout(), CommsController< ODRIVE_CAN0, ODRIVE_CAN1 >::get_odrv0_data(), CommsController< ODRIVE_CAN0, ODRIVE_CAN1 >::get_odrv1_data(), OdriveController< CAN >::OdriveController(), OdriveController< CAN >::set_torque(), and CommsController< ODRIVE_CAN0, ODRIVE_CAN1 >::Tick().

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

C:/Users/vrim/Desktop/Coding/alpha-design-bilateral/src/controllers/odrive_controller.hpp

Public Member Functions

Public Attributes

Detailed Description

Constructor & Destructor Documentation

◆ OdriveController() [1/2]

◆ ~OdriveController()

◆ OdriveController() [2/2]

Member Function Documentation

◆ enable_anticogging()

◆ full_calibration()

◆ move_to_limits()

◆ set_params()

◆ set_torque()

◆ startup_odrive_checks()

Member Data Documentation

◆ alpha_

◆ motor_limits_

◆ odrive_can_

◆ odrv_

◆ odrv_user_data_