Class MotorDriverInterface

• Defined in File driver.hpp

Inheritance Relationships

Derived Type

• public husarion_ugv_hardware_interfaces::RoboteqMotorDriver (Class RoboteqMotorDriver)

Class Documentation

class MotorDriverInterface

Abstract class for motor driver.

Subclassed by husarion_ugv_hardware_interfaces::RoboteqMotorDriver

Public Functions

virtual MotorDriverState ReadState() = 0

Reads motors’ state data returned from (PDO 1 and 2) and saves last timestamps.

virtual void SendCmdVel(const std::int32_t cmd) = 0

Sends commands to the motors.

Parameters:

cmd – command value in the range [-1000, 1000]

Throws:

std::runtime_error – if operation fails

virtual void TurnOnSafetyStop() = 0

Sends a safety stop command to the motor.

Throws:

std::runtime_error – if any operation returns error