mcDSA Struct Reference

Driver for the mcDSA-B60 CANOpen Motor driver. More...

#include <mcDSA.h>

Inherits CAN::Open::Device.

Collaboration diagram for mcDSA:

Public Member Functions
void	enable (bool en=true)
	Enable or Disable the motor driver.
void	speed (double speed)
	Set the motor speed in u/min.
void	readData ()
	Read current motor data.
double	current ()
	Return the current motor current in mA.
void	callback (CAN::Open::SDO rq)
	implement the callback method to handle incoming data
void	callback (CAN::Open::TPDO rq)
	implement the callback method to handle incoming data
void	read (uint16_t ix, uint8_t sub)
	read DO with given index and subindex of this device
void	w8 (uint16_t ix, uint8_t sub, uint8_t val)
	write given value to DO at given index and subindex
void	w16 (uint16_t ix, uint8_t sub, uint16_t val)
	write given value to DO at given index and subindex
void	w32 (uint16_t ix, uint8_t sub, uint32_t val)
	write given value to DO at given index and subindex
void	wPDO (const RPDO &rpdo)
	send PDO
void	enablePDO (RPDO &pdo)
	enable receiving PDO on device
void	enablePDO (TPDO &pdo)
	enable sending PDO on device
void	disablePDO (RPDO &pdo)
	disable receiving PDO on device
void	disablePDO (TPDO &pdo)
	disable sending PDO on device
bool	full () override
	check if sink is full
virtual void	push (const TPDO &t)
	copy semantics does not check for space. guard by using 'if (!full) { ... }'
virtual void	push (TPDO &&)=0
	move semantics does not check for space. guard by using 'if (!full) { ... }'
virtual void	push (const SDO &t)
	copy semantics does not check for space. guard by using 'if (!full) { ... }'
virtual void	push (SDO &&)=0
	move semantics does not check for space. guard by using 'if (!full) { ... }'
void	trypush (TPDO &&t)
	use this if you don't care if it's going to be successful. data gets discarded if sink is full.
void	trypush (SDO &&t)
	use this if you don't care if it's going to be successful. data gets discarded if sink is full.

Public Attributes
uint8_t const	id {}
	CANOpen node ID [1 - 127].

Detailed Description

Driver for the mcDSA-B60 CANOpen Motor driver.

Member Function Documentation

speed()

void mcDSA::speed ( double  speed )

inline

Set the motor speed in u/min.

Only works if device is in Operational State Capped at +- 1m/s

readData()

void mcDSA::readData ( )

inline

Read current motor data.

Includes actual speed, desired speed, motor current, motor position (angle), motor error.

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

• dev/mcDSA.h