This is a driver for the RoboClaw motor controller. More...

#include <RoboClaw.hpp>

Collaboration diagram for RoboClaw:

Public Types
enum	e_channel { CH_VOLTAGE_LEFT = 0, CH_VOLTAGE_RIGHT }
	control channels More...

enum	e_motor { MOTOR_1 = 0, MOTOR_2 }
	motors More...

Public Member Functions
void	taskMain ()

	RoboClaw (const char deviceName, const char baudRateParam)
	constructor More...

virtual	~RoboClaw ()
	deconstructor More...

float	getMotorPosition (e_motor motor)

float	getMotorSpeed (e_motor motor)

int	setMotorSpeed (e_motor motor, float value)
	set the speed of a motor, rev/sec More...

int	setMotorDutyCycle (e_motor motor, float value)
	set the duty cycle of a motor More...

int	drive (float value)
	Drive both motors. More...

int	turn (float value)
	Turn. More...

int	resetEncoders ()
	reset the encoders More...

int	readEncoder ()
	read data from serial More...

void	printStatus (char *string, size_t n)
	print status More...

Static Public Attributes
static bool	taskShouldExit = false

Private Types
enum	e_command { CMD_DRIVE_FWD_1 = 0, CMD_DRIVE_REV_1 = 1, CMD_DRIVE_FWD_2 = 4, CMD_DRIVE_REV_2 = 5, CMD_DRIVE_FWD_MIX = 8, CMD_DRIVE_REV_MIX = 9, CMD_TURN_RIGHT = 10, CMD_TURN_LEFT = 11, CMD_READ_ENCODER_1 = 16, CMD_READ_ENCODER_2 = 17, CMD_READ_SPEED_1 = 18, CMD_READ_SPEED_2 = 19, CMD_RESET_ENCODERS = 20, CMD_READ_BOTH_ENCODERS = 78, CMD_READ_BOTH_SPEEDS = 79, CMD_READ_SPEED_HIRES_1 = 30, CMD_READ_SPEED_HIRES_2 = 31, CMD_SIGNED_DUTYCYCLE_1 = 32, CMD_SIGNED_DUTYCYCLE_2 = 33, CMD_READ_STATUS = 90 }

Private Member Functions
void	_parameters_update ()

int	_sendUnsigned7Bit (e_command command, float data)

int	_sendSigned16Bit (e_command command, float data)

int	_sendNothing (e_command)

int	_transaction (e_command cmd, uint8_t wbuff, size_t wbytes, uint8_t rbuff, size_t rbytes, bool send_checksum=true, bool recv_checksum=false)
	Perform a round-trip write and read. More...

Static Private Member Functions
static uint16_t	_calcCRC (const uint8_t *buf, size_t n, uint16_t init=0)

Private Attributes
struct {
speed_t serial_baud_rate

int32_t counts_per_rev

int32_t encoder_read_period_ms

int32_t actuator_write_period_ms

int32_t address

}	_parameters

struct {
param_t serial_baud_rate

param_t counts_per_rev

param_t encoder_read_period_ms

param_t actuator_write_period_ms

param_t address

}	_param_handles

int	_uart

fd_set	_uart_set

struct timeval	_uart_timeout

int	_actuatorsSub {-1}
	actuator controls subscription More...

actuator_controls_s	_actuatorControls

int	_armedSub {-1}

actuator_armed_s	_actuatorArmed

int	_paramSub {-1}

parameter_update_s	_paramUpdate

orb_advert_t	_wheelEncodersAdv [2] {nullptr, nullptr}

wheel_encoders_s	_wheelEncoderMsg [2]

uint32_t	_lastEncoderCount [2] {0, 0}

int64_t	_encoderCounts [2] {0, 0}

int32_t	_motorSpeeds [2] {0, 0}

Detailed Description

This is a driver for the RoboClaw motor controller.

Definition at line 62 of file RoboClaw.hpp.

Member Enumeration Documentation

◆ e_channel

enum RoboClaw::e_channel

control channels

Enumerator
CH_VOLTAGE_LEFT
CH_VOLTAGE_RIGHT

Definition at line 70 of file RoboClaw.hpp.

◆ e_command

enum RoboClaw::e_command

private

Enumerator
CMD_DRIVE_FWD_1
CMD_DRIVE_REV_1
CMD_DRIVE_FWD_2
CMD_DRIVE_REV_2
CMD_DRIVE_FWD_MIX
CMD_DRIVE_REV_MIX
CMD_TURN_RIGHT
CMD_TURN_LEFT
CMD_READ_ENCODER_1
CMD_READ_ENCODER_2
CMD_READ_SPEED_1
CMD_READ_SPEED_2
CMD_RESET_ENCODERS
CMD_READ_BOTH_ENCODERS
CMD_READ_BOTH_SPEEDS
CMD_READ_SPEED_HIRES_1
CMD_READ_SPEED_HIRES_2
CMD_SIGNED_DUTYCYCLE_1
CMD_SIGNED_DUTYCYCLE_2
CMD_READ_STATUS

Definition at line 146 of file RoboClaw.hpp.

◆ e_motor

enum RoboClaw::e_motor

motors

Enumerator
MOTOR_1
MOTOR_2

Definition at line 76 of file RoboClaw.hpp.

Constructor & Destructor Documentation

◆ RoboClaw()

RoboClaw::RoboClaw	(	const char *	deviceName,
		const char *	baudRateParam
	)

constructor

Parameters

deviceName	the name of the serial port e.g. "/dev/ttyS2"
address	the adddress of the motor (selectable on roboclaw)
baudRateParam	Name of the parameter that holds the baud rate of this serial port

Definition at line 80 of file RoboClaw.cpp.

References _actuatorsSub, _encoderCounts, _lastEncoderCount, _motorSpeeds, _param_handles, _parameters, _parameters_update(), _uart, _uart_set, err, param_find(), resetEncoders(), and TIMEOUT_US.

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◆ ~RoboClaw()

RoboClaw::~RoboClaw ( )

virtual

deconstructor

Definition at line 128 of file RoboClaw.cpp.

References _uart, MOTOR_1, MOTOR_2, and setMotorDutyCycle().

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Member Function Documentation

◆ _calcCRC()

uint16_t RoboClaw::_calcCRC	(	const uint8_t *	buf,
		size_t	n,
		uint16_t	init = `0`
	)

staticprivate

Definition at line 456 of file RoboClaw.cpp.

References ToneAlarmInterface::init().

Referenced by _transaction().

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◆ _parameters_update()

void RoboClaw::_parameters_update ( )

private

Definition at line 569 of file RoboClaw.cpp.

References _actuatorsSub, _param_handles, _parameters, B460800, orb_set_interval(), and param_get().

Referenced by RoboClaw(), and taskMain().

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◆ _sendNothing()

int RoboClaw::_sendNothing ( e_command command )

private

Definition at line 450 of file RoboClaw.cpp.

References _transaction().

Referenced by resetEncoders().

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◆ _sendSigned16Bit()

int RoboClaw::_sendSigned16Bit	(	e_command	command,
		float	data
	)

private

Definition at line 436 of file RoboClaw.cpp.

References _transaction(), and f().

Referenced by setMotorDutyCycle().

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◆ _sendUnsigned7Bit()

int RoboClaw::_sendUnsigned7Bit	(	e_command	command,
		float	data
	)

private

Definition at line 423 of file RoboClaw.cpp.

References _transaction(), and f().

Referenced by drive(), setMotorSpeed(), and turn().

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◆ _transaction()

int RoboClaw::_transaction	(	e_command	cmd,
		uint8_t *	wbuff,
		size_t	wbytes,
		uint8_t *	rbuff,
		size_t	rbytes,
		bool	send_checksum = `true`,
		bool	recv_checksum = `false`
	)

private

Perform a round-trip write and read.

NOTE: This function is not thread-safe.

Parameters

cmd	Command to send to the Roboclaw
wbuff	Write buffer. Must not contain command, address, or checksum. For most commands, this will be one or two bytes. Can be null iff wbytes == 0.
wbytes	Number of bytes to write. Can be 0.
rbuff	Read buffer. Will be filled with the entire response, including a checksum if the Roboclaw sends a checksum for this command.
rbytes	Maximum number of bytes to read.
send_checksum	If true, then the checksum will be calculated and sent to the Roboclaw. This is an option because some Roboclaw commands expect no checksum.
recv_checksum	If true, then this function will calculate the checksum of the returned data and compare it to the checksum received. If they are not equal, OR if fewer than 2 bytes were received, then an error is returned. If false, then this function will expect to read exactly one byte, 0xFF, and will return an error otherwise.

Returns: If successful, then the number of bytes read from the Roboclaw is returned. If there is a timeout reading from the Roboclaw, then 0 is returned. If there is an IO error, then a negative value is returned.

Definition at line 476 of file RoboClaw.cpp.

References _calcCRC(), _parameters, _uart, _uart_set, _uart_timeout, read(), TIMEOUT_US, and write().

Referenced by _sendNothing(), _sendSigned16Bit(), _sendUnsigned7Bit(), readEncoder(), and taskMain().

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◆ drive()

int RoboClaw::drive ( float value )

Drive both motors.

+1 = full forward, -1 = full backward

Definition at line 406 of file RoboClaw.cpp.

References _sendUnsigned7Bit(), CMD_DRIVE_FWD_MIX, CMD_DRIVE_REV_MIX, and command.

Referenced by taskMain().

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◆ getMotorPosition()

float RoboClaw::getMotorPosition ( e_motor motor )

Returns: position of a motor, rev

Definition at line 331 of file RoboClaw.cpp.

References _encoderCounts, MOTOR_1, MOTOR_2, and warnx.

Referenced by printStatus().

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◆ getMotorSpeed()

float RoboClaw::getMotorSpeed ( e_motor motor )

Returns: speed of a motor, rev/sec

Definition at line 345 of file RoboClaw.cpp.

References _motorSpeeds, MOTOR_1, MOTOR_2, and warnx.

Referenced by printStatus().

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◆ printStatus()

void RoboClaw::printStatus	(	char *	string,
		size_t	n
	)

print status

Definition at line 322 of file RoboClaw.cpp.

References getMotorPosition(), getMotorSpeed(), MOTOR_1, and MOTOR_2.

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◆ readEncoder()

int RoboClaw::readEncoder ( )

read data from serial

Definition at line 255 of file RoboClaw.cpp.

References _encoderCounts, _lastEncoderCount, _motorSpeeds, _transaction(), CMD_READ_BOTH_ENCODERS, CMD_READ_SPEED_1, CMD_READ_SPEED_2, ENCODER_MESSAGE_SIZE, ENCODER_SPEED_MESSAGE_SIZE, and TIMEOUT_RETRIES.

Referenced by taskMain().

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◆ resetEncoders()

int RoboClaw::resetEncoders ( )

reset the encoders

Returns: status

Definition at line 418 of file RoboClaw.cpp.

References _sendNothing(), and CMD_RESET_ENCODERS.

Referenced by RoboClaw().

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◆ setMotorDutyCycle()

int RoboClaw::setMotorDutyCycle	(	e_motor	motor,
		float	value
	)

set the duty cycle of a motor

Definition at line 387 of file RoboClaw.cpp.

References _sendSigned16Bit(), CMD_SIGNED_DUTYCYCLE_1, CMD_SIGNED_DUTYCYCLE_2, command, MOTOR_1, and MOTOR_2.

Referenced by ~RoboClaw().

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◆ setMotorSpeed()

int RoboClaw::setMotorSpeed	(	e_motor	motor,
		float	value
	)

set the speed of a motor, rev/sec

Definition at line 359 of file RoboClaw.cpp.

References _sendUnsigned7Bit(), CMD_DRIVE_FWD_1, CMD_DRIVE_FWD_2, CMD_DRIVE_REV_1, CMD_DRIVE_REV_2, command, MOTOR_1, and MOTOR_2.

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◆ taskMain()

void RoboClaw::taskMain ( )

Definition at line 135 of file RoboClaw.cpp.

References _actuatorArmed, _actuatorControls, _actuatorsSub, _armedSub, _encoderCounts, _motorSpeeds, _parameters, _parameters_update(), _paramSub, _paramUpdate, _transaction(), _wheelEncoderMsg, _wheelEncodersAdv, actuator_armed_s::armed, CMD_READ_STATUS, actuator_controls_s::control, disarmed, drive(), actuator_armed_s::force_failsafe, hrt_absolute_time(), ll40ls::instance, actuator_armed_s::lockdown, actuator_armed_s::manual_lockdown, orb_advertise_multi(), orb_copy(), ORB_ID, ORB_PRIO_DEFAULT, orb_publish(), orb_set_interval(), orb_subscribe(), orb_unsubscribe(), readEncoder(), STOP_RETRIES, taskShouldExit, TIMEOUT_US, and turn().

Referenced by roboclaw_thread_main().

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◆ turn()

int RoboClaw::turn ( float value )

Turn.

+1 = full right, -1 = full left

Definition at line 412 of file RoboClaw.cpp.

References _sendUnsigned7Bit(), CMD_TURN_LEFT, CMD_TURN_RIGHT, and command.

Referenced by taskMain().

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Member Data Documentation

◆ _actuatorArmed

actuator_armed_s RoboClaw::_actuatorArmed

private

Definition at line 202 of file RoboClaw.hpp.

Referenced by taskMain().

◆ _actuatorControls

actuator_controls_s RoboClaw::_actuatorControls

private

Definition at line 199 of file RoboClaw.hpp.

Referenced by taskMain().

◆ _actuatorsSub

int RoboClaw::_actuatorsSub {-1}

private

actuator controls subscription

Definition at line 198 of file RoboClaw.hpp.

Referenced by _parameters_update(), RoboClaw(), and taskMain().

◆ _armedSub

int RoboClaw::_armedSub {-1}

private

Definition at line 201 of file RoboClaw.hpp.

Referenced by taskMain().

◆ _encoderCounts

int64_t RoboClaw::_encoderCounts[2] {0, 0}

private

Definition at line 211 of file RoboClaw.hpp.

Referenced by getMotorPosition(), readEncoder(), RoboClaw(), and taskMain().

◆ _lastEncoderCount

uint32_t RoboClaw::_lastEncoderCount[2] {0, 0}

private

Definition at line 210 of file RoboClaw.hpp.

Referenced by readEncoder(), and RoboClaw().

◆ _motorSpeeds

int32_t RoboClaw::_motorSpeeds[2] {0, 0}

private

Definition at line 212 of file RoboClaw.hpp.

Referenced by getMotorSpeed(), readEncoder(), RoboClaw(), and taskMain().

◆ _param_handles

struct { ... } RoboClaw::_param_handles

Referenced by _parameters_update(), and RoboClaw().

◆ _parameters

struct { ... } RoboClaw::_parameters

Referenced by _parameters_update(), _transaction(), RoboClaw(), and taskMain().

◆ _paramSub

int RoboClaw::_paramSub {-1}

private

Definition at line 204 of file RoboClaw.hpp.

Referenced by taskMain().

◆ _paramUpdate

parameter_update_s RoboClaw::_paramUpdate

private

Definition at line 205 of file RoboClaw.hpp.

Referenced by taskMain().

◆ _uart

int RoboClaw::_uart

private

Definition at line 193 of file RoboClaw.hpp.

Referenced by _transaction(), RoboClaw(), and ~RoboClaw().

◆ _uart_set

fd_set RoboClaw::_uart_set

private

Definition at line 194 of file RoboClaw.hpp.

Referenced by _transaction(), and RoboClaw().

◆ _uart_timeout

struct timeval RoboClaw::_uart_timeout

private

Definition at line 195 of file RoboClaw.hpp.

Referenced by _transaction().

◆ _wheelEncoderMsg

wheel_encoders_s RoboClaw::_wheelEncoderMsg[2]

private

Definition at line 208 of file RoboClaw.hpp.

Referenced by taskMain().

◆ _wheelEncodersAdv

orb_advert_t RoboClaw::_wheelEncodersAdv[2] {nullptr, nullptr}

private

Definition at line 207 of file RoboClaw.hpp.

Referenced by taskMain().

◆ actuator_write_period_ms [1/2]

int32_t RoboClaw::actuator_write_period_ms

Definition at line 181 of file RoboClaw.hpp.

◆ actuator_write_period_ms [2/2]

param_t RoboClaw::actuator_write_period_ms

Definition at line 189 of file RoboClaw.hpp.

◆ address [1/2]

int32_t RoboClaw::address

Definition at line 182 of file RoboClaw.hpp.

◆ address [2/2]

param_t RoboClaw::address

Definition at line 190 of file RoboClaw.hpp.

◆ counts_per_rev [1/2]

int32_t RoboClaw::counts_per_rev

Definition at line 179 of file RoboClaw.hpp.

◆ counts_per_rev [2/2]

param_t RoboClaw::counts_per_rev

Definition at line 187 of file RoboClaw.hpp.

◆ encoder_read_period_ms [1/2]

int32_t RoboClaw::encoder_read_period_ms

Definition at line 180 of file RoboClaw.hpp.

◆ encoder_read_period_ms [2/2]

param_t RoboClaw::encoder_read_period_ms

Definition at line 188 of file RoboClaw.hpp.

◆ serial_baud_rate [1/2]

speed_t RoboClaw::serial_baud_rate

Definition at line 178 of file RoboClaw.hpp.

◆ serial_baud_rate [2/2]

param_t RoboClaw::serial_baud_rate

Definition at line 186 of file RoboClaw.hpp.

◆ taskShouldExit

bool RoboClaw::taskShouldExit = false

static

Definition at line 67 of file RoboClaw.hpp.

Referenced by roboclaw_main(), and taskMain().

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

src/drivers/roboclaw/RoboClaw.hpp
src/drivers/roboclaw/RoboClaw.cpp

Public Types

Public Member Functions

Static Public Attributes

Private Types

Private Member Functions

Static Private Member Functions

Private Attributes

Detailed Description

Member Enumeration Documentation

◆ e_channel

◆ e_command

◆ e_motor

Constructor & Destructor Documentation

◆ RoboClaw()

◆ ~RoboClaw()

Member Function Documentation

◆ _calcCRC()

◆ _parameters_update()

◆ _sendNothing()

◆ _sendSigned16Bit()

◆ _sendUnsigned7Bit()

◆ _transaction()

◆ drive()

◆ getMotorPosition()

◆ getMotorSpeed()

◆ printStatus()

◆ readEncoder()

◆ resetEncoders()

◆ setMotorDutyCycle()

◆ setMotorSpeed()

◆ taskMain()

◆ turn()

Member Data Documentation

◆ _actuatorArmed

◆ _actuatorControls

◆ _actuatorsSub

◆ _armedSub

◆ _encoderCounts

◆ _lastEncoderCount

◆ _motorSpeeds

◆ _param_handles

◆ _parameters

◆ _paramSub

◆ _paramUpdate

◆ _uart

◆ _uart_set

◆ _uart_timeout

◆ _wheelEncoderMsg

◆ _wheelEncodersAdv

◆ actuator_write_period_ms [1/2]

◆ actuator_write_period_ms [2/2]

◆ address [1/2]

◆ address [2/2]

◆ counts_per_rev [1/2]

◆ counts_per_rev [2/2]

◆ encoder_read_period_ms [1/2]

◆ encoder_read_period_ms [2/2]

◆ serial_baud_rate [1/2]

◆ serial_baud_rate [2/2]

◆ taskShouldExit