cybergear.hpp ファイル

#include <array>
#include <cstddef>
#include <cstdint>
#include <cstring>
#include "tutrcos/peripheral/can_base.hpp"
#include "tutrcos/utility.hpp"
#include "encoder_base.hpp"

cybergear.hpp の依存先関係図:

[ソースコード]

クラス
class	tutrcos::module::Cybergear
struct	tutrcos::module::Cybergear::MotorStatus
struct	tutrcos::module::Cybergear::MotorFault
struct	tutrcos::module::Cybergear::MotorParameter

名前空間
namespace	tutrcos
namespace	tutrcos::module

マクロ定義
#define	CMD_POSITION   1
#define	CMD_RESPONSE   2
#define	CMD_ENABLE   3
#define	CMD_RESET   4
#define	CMD_SET_MECH_POSITION_TO_ZERO   6
#define	CMD_CHANGE_CAN_ID   7
#define	CMD_RAM_READ   17
#define	CMD_RAM_WRITE   18
#define	CMD_GET_MOTOR_FAIL   21
#define	ADDR_RUN_MODE   0x7005
#define	ADDR_IQ_REF   0x7006
#define	ADDR_SPEED_REF   0x700A
#define	ADDR_LIMIT_TORQUE   0x700B
#define	ADDR_CURRENT_KP   0x7010
#define	ADDR_CURRENT_KI   0x7011
#define	ADDR_CURRENT_FILTER_GAIN   0x7014
#define	ADDR_LOC_REF   0x7016
#define	ADDR_LIMIT_SPEED   0x7017
#define	ADDR_LIMIT_CURRENT   0x7018
#define	ADDR_MECH_POS   0x7019
#define	ADDR_IQF   0x701A
#define	ADDR_MECH_VEL   0x701B
#define	ADDR_VBUS   0x701C
#define	ADDR_ROTATION   0x701D
#define	ADDR_LOC_KP   0x701E
#define	ADDR_SPD_KP   0x701F
#define	ADDR_SPD_KI   0x7020
#define	POS_MIN   -12.5f
#define	POS_MAX   12.5f
#define	VEL_MIN   -30.0f
#define	VEL_MAX   30.0f
#define	CUR_MIN   -27.0f
#define	CUR_MAX   27.0f
#define	TOR_MIN   -12.0f
#define	TOR_MAX   12.0f
#define	CURRENT_FILTER_GAIN_MIN   0.0f
#define	CURRENT_FILTER_GAIN_MAX   1.0f
#define	CUR_KP_MAX   200.0f
#define	CUR_KP_MIN   0.0f
#define	CUR_KI_MAX   200.0f
#define	CUR_KI_MIN   0.0f
#define	P_MIN   -12.5f
#define	P_MAX   12.5f
#define	V_MIN   -30.0f
#define	V_MAX   30.0f
#define	KP_MIN   0.0f
#define	KP_MAX   500.0f
#define	KD_MIN   0.0f
#define	KD_MAX   5.0f
#define	T_MIN   -12.0f
#define	T_MAX   12.0f
#define	IQ_MIN   -27.0f
#define	IQ_MAX   27.0f
#define	CURRENT_FILTER_GAIN_MIN   0.0f
#define	CURRENT_FILTER_GAIN_MAX   1.0f
#define	DEFAULT_CURRENT_KP   0.125f
#define	DEFAULT_CURRENT_KI   0.0158f
#define	DEFAULT_CURRENT_FINTER_GAIN   0.1f
#define	DEFAULT_POSITION_KP   30.0f
#define	DEFAULT_VELOCITY_KP   2.0f
#define	DEFAULT_VELOCITY_KI   0.002f
#define	DEFAULT_VELOCITY_LIMIT   2.0f
#define	DEFAULT_CURRENT_LIMIT   27.0f
#define	DEFAULT_TORQUE_LIMIT   12.0f
#define	RET_CYBERGEAR_OK   0x00
#define	RET_CYBERGEAR_MSG_NOT_AVAIL   0x01
#define	RET_CYBERGEAR_INVALID_CAN_ID   0x02
#define	RET_CYBERGEAR_INVALID_PACKET   0x03
#define	CW   1
#define	CCW   -1

マクロ定義詳解

ADDR_CURRENT_FILTER_GAIN

#define ADDR_CURRENT_FILTER_GAIN   0x7014

ADDR_CURRENT_KI

#define ADDR_CURRENT_KI   0x7011

ADDR_CURRENT_KP

#define ADDR_CURRENT_KP   0x7010

ADDR_IQ_REF

#define ADDR_IQ_REF   0x7006

ADDR_IQF

#define ADDR_IQF   0x701A

ADDR_LIMIT_CURRENT

#define ADDR_LIMIT_CURRENT   0x7018

ADDR_LIMIT_SPEED

#define ADDR_LIMIT_SPEED   0x7017

ADDR_LIMIT_TORQUE

#define ADDR_LIMIT_TORQUE   0x700B

ADDR_LOC_KP

#define ADDR_LOC_KP   0x701E

ADDR_LOC_REF

#define ADDR_LOC_REF   0x7016

ADDR_MECH_POS

#define ADDR_MECH_POS   0x7019

ADDR_MECH_VEL

#define ADDR_MECH_VEL   0x701B

ADDR_ROTATION

#define ADDR_ROTATION   0x701D

ADDR_RUN_MODE

#define ADDR_RUN_MODE   0x7005

ADDR_SPD_KI

#define ADDR_SPD_KI   0x7020

ADDR_SPD_KP

#define ADDR_SPD_KP   0x701F

ADDR_SPEED_REF

#define ADDR_SPEED_REF   0x700A

ADDR_VBUS

#define ADDR_VBUS   0x701C

CCW

#define CCW   -1

CMD_CHANGE_CAN_ID

#define CMD_CHANGE_CAN_ID   7

CMD_ENABLE

#define CMD_ENABLE   3

CMD_GET_MOTOR_FAIL

#define CMD_GET_MOTOR_FAIL   21

CMD_POSITION

#define CMD_POSITION   1

CMD_RAM_READ

#define CMD_RAM_READ   17

CMD_RAM_WRITE

#define CMD_RAM_WRITE   18

CMD_RESET

#define CMD_RESET   4

CMD_RESPONSE

#define CMD_RESPONSE   2

CMD_SET_MECH_POSITION_TO_ZERO

#define CMD_SET_MECH_POSITION_TO_ZERO   6

CUR_KI_MAX

#define CUR_KI_MAX   200.0f

CUR_KI_MIN

#define CUR_KI_MIN   0.0f

CUR_KP_MAX

#define CUR_KP_MAX   200.0f

CUR_KP_MIN

#define CUR_KP_MIN   0.0f

CUR_MAX

#define CUR_MAX   27.0f

CUR_MIN

#define CUR_MIN   -27.0f

CURRENT_FILTER_GAIN_MAX [1/2]

#define CURRENT_FILTER_GAIN_MAX   1.0f

CURRENT_FILTER_GAIN_MAX [2/2]

#define CURRENT_FILTER_GAIN_MAX   1.0f

CURRENT_FILTER_GAIN_MIN [1/2]

#define CURRENT_FILTER_GAIN_MIN   0.0f

CURRENT_FILTER_GAIN_MIN [2/2]

#define CURRENT_FILTER_GAIN_MIN   0.0f

CW

#define CW   1

DEFAULT_CURRENT_FINTER_GAIN

#define DEFAULT_CURRENT_FINTER_GAIN   0.1f

DEFAULT_CURRENT_KI

#define DEFAULT_CURRENT_KI   0.0158f

DEFAULT_CURRENT_KP

#define DEFAULT_CURRENT_KP   0.125f

DEFAULT_CURRENT_LIMIT

#define DEFAULT_CURRENT_LIMIT   27.0f

DEFAULT_POSITION_KP

#define DEFAULT_POSITION_KP   30.0f

DEFAULT_TORQUE_LIMIT

#define DEFAULT_TORQUE_LIMIT   12.0f

DEFAULT_VELOCITY_KI

#define DEFAULT_VELOCITY_KI   0.002f

DEFAULT_VELOCITY_KP

#define DEFAULT_VELOCITY_KP   2.0f

DEFAULT_VELOCITY_LIMIT

#define DEFAULT_VELOCITY_LIMIT   2.0f

IQ_MAX

#define IQ_MAX   27.0f

IQ_MIN

#define IQ_MIN   -27.0f

KD_MAX

#define KD_MAX   5.0f

KD_MIN

#define KD_MIN   0.0f

KP_MAX

#define KP_MAX   500.0f

KP_MIN

#define KP_MIN   0.0f

P_MAX

#define P_MAX   12.5f

P_MIN

#define P_MIN   -12.5f

POS_MAX

#define POS_MAX   12.5f

POS_MIN

#define POS_MIN   -12.5f

RET_CYBERGEAR_INVALID_CAN_ID

#define RET_CYBERGEAR_INVALID_CAN_ID   0x02

RET_CYBERGEAR_INVALID_PACKET

#define RET_CYBERGEAR_INVALID_PACKET   0x03

RET_CYBERGEAR_MSG_NOT_AVAIL

#define RET_CYBERGEAR_MSG_NOT_AVAIL   0x01

RET_CYBERGEAR_OK

#define RET_CYBERGEAR_OK   0x00

T_MAX

#define T_MAX   12.0f

T_MIN

#define T_MIN   -12.0f

TOR_MAX

#define TOR_MAX   12.0f

TOR_MIN

#define TOR_MIN   -12.0f

V_MAX

#define V_MAX   30.0f

V_MIN

#define V_MIN   -30.0f

VEL_MAX

#define VEL_MAX   30.0f

VEL_MIN

#define VEL_MIN   -30.0f