Fawkes API  Fawkes Development Version
fawkes::EmergencyMotorInstruct Class Reference

This module is a class for validity checks of drive commands and sets those things with respect to the physical borders of the robot. More...

#include <>>

Inheritance diagram for fawkes::EmergencyMotorInstruct:

Public Member Functions

 EmergencyMotorInstruct (MotorInterface *motor, float frequency, Logger *logger, Configuration *config)
 Constructor. More...
 
virtual ~EmergencyMotorInstruct ()
 Destructor. More...
 
- Public Member Functions inherited from fawkes::BaseMotorInstruct
 BaseMotorInstruct (MotorInterface *motor, float frequency, Logger *logger, Configuration *config)
 Constructor. More...
 
virtual ~BaseMotorInstruct ()
 Desctructor. More...
 
void drive (float trans_x, float trans_y, float rot)
 Try to realize the proposed values with respect to the maximum allowed values. More...
 
void stop ()
 Executes a soft stop with respect to calculate_translation and calculate_rotation. More...
 

Additional Inherited Members

- Protected Attributes inherited from fawkes::BaseMotorInstruct
Loggerlogger_
 The fawkes logger. More...
 
Configurationconfig_
 The fawkse config. More...
 
float trans_acc_
 Translation acceleration. More...
 
float trans_dec_
 Translation deceleration. More...
 
float rot_acc_
 Rotation acceleration. More...
 
float rot_dec_
 Rotation deceleration. More...
 

Detailed Description

This module is a class for validity checks of drive commands and sets those things with respect to the physical borders of the robot.

For this purpose the two functions calculate_rotation and calculate_translation are implemented linear ;-)

Definition at line 33 of file emergency_motor_instruct.h.

Constructor & Destructor Documentation

◆ EmergencyMotorInstruct()

fawkes::EmergencyMotorInstruct::EmergencyMotorInstruct ( fawkes::MotorInterface motor,
float  frequency,
fawkes::Logger logger,
fawkes::Configuration config 
)

Constructor.

Parameters
motorThe MotorInterface with all the motor information
frequencyThe frequency of the colli (should become deprecated!)
loggerThe fawkes logger
configThe fawkes configuration

Definition at line 53 of file emergency_motor_instruct.cpp.

References fawkes::Logger::log_debug(), and fawkes::BaseMotorInstruct::logger_.

◆ ~EmergencyMotorInstruct()

fawkes::EmergencyMotorInstruct::~EmergencyMotorInstruct ( )
virtual

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