[Rock-dev] Replacement for base::actuators::MotorState

[Matthias Goldhoorn]

On 19.02.2013 10:41, Janosch Machowinski wrote:
> Hi,
> I would like to propose a replacement for base the MotorState
> structure as it is clearly 'Asguardish'. The idea behind the new
> structures is that it should work for any of out actuators.
>
>       struct Encoder
>       {
>       public:
Constructor with inizialization with base::unset<double> ?
>           ///determines weather this is an absolut
>           ///or incremental reading
>           bool absolut;
>
>           ///Position in radians
>           double position;
Please use base::Angle for this.
>
>           ///Speed in radians per second
>           double speed;
>       };
>
>       struct ActuatorState
>       {
>       public:
Same Constructor remark
>           ///Time of the State
>           base::Time time;
>
>           ///The amount of current in A
>           ///consumed by the actuator
>           float actuatorCurrent;
>
>           ///Torque in Nm applied by the acutator
>           double actuatorTorque;
>
>           ///Encoder at the motor shaft
>           Encoder motorShaftEncoder;
>
>           ///Encoder at the output side
>           ///e.g. behind the gearbox
>           Encoder ouputSideEncoder;
>
>           ///Current pwm applied to the actuator
>           ///range [-1, 1]
>           float pwm;
>
>           ///temperature of the actuator in °C
>           float actuatorTemperature;
>
>           ///temperature of the motor driver pcb in °C
>           float motorDriverTemperature;
Sould we at this point think about creating base::temperature.
This can have some toKelvin toCelsius, and also have some mebers like 
"warningLow", "criticalLow", "warningHeight","criticalLow".
This can help to make the GUIs more dynamic?
>       };
>
>       struct ActuatorStateSet
>       {
>       public:
>           std::vector<ActuatorState>  states;
>       };
>
> Any remarks ?
>       Janosch
>
Greetings,
Matthias

-- 
  Dipl.-Inf. Matthias Goldhoorn
  Space and Underwater Robotic

  Universität Bremen
  FB 3 - Mathematik und Informatik
  AG Robotik
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