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

[Sylvain Joyeux]

On 02/19/2013 10:59 AM, Janosch Machowinski wrote:
> Included remarks from Matthias,
> turns out we have already a base::Temperature.
> I did not add constructors yet as this is more about
> the layout and fields of the types and if the structure
> would cover all of our use cases.
>
>       struct Encoder
>       {
>       public:
>           ///determines weather this is an absolute
>           ///or incremental reading
>           bool absolute;
>
>           ///Position of the actuator
>           base::Angle position;
base::Angle is limited in [-pi; pi], you can't use it there.

>           ///Speed in radians per second
>           double speed;
>       };
>
>       struct ActuatorState
>       {
>       public:
>           ///Time of the State
>           base::Time time;
>
>           ///The amount of current in A
>           ///consumed by the actuator
>           float actuatorCurrent;
I would prefer removing the actuator prefix. This is an ActuatorState 
structure.

>           ///Torque in Nm applied by the actuator
>           double actuatorTorque;
Same about he actuator prefix

>
>           ///Encoder at the motor shaft
>           Encoder motorShaftEncoder;
>
>           ///Encoder at the output side
>           ///e.g. behind the gearbox
>           Encoder ouputSideEncoder;
And what about cases where there are more than two encoders ? This 
encoder thing was the very reason that we wanted a bigger discussion.

I would personally prefer splitting the actuator from the encoders and 
have a way to describe a "chain" of actuators / encoders. KDL was a 
candidate, at that point, to provide the required data structures.

>           ///Current pwm applied to the actuator
>           ///range [-1, 1]
>           float pwm;
>
>           ///temperature of the actuator
>           base::Temperature actuatorTemperature;
>           ///temperature of the motor driver pcb
>           base::Temperature motorDriverTemperature;
I would prefer putting these temperatures in a separate data structure.
-- 
Sylvain Joyeux (Dr.Ing.)
Space & Security Robotics

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