Class RoboteqMotorDriver
Defined in File roboteq_driver.hpp
Inheritance Relationships
Base Type
public husarion_ugv_hardware_interfaces::MotorDriverInterface(Class MotorDriverInterface)
Class Documentation
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class RoboteqMotorDriver : public husarion_ugv_hardware_interfaces::MotorDriverInterface
Public Functions
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inline RoboteqMotorDriver(std::weak_ptr<RoboteqDriver> driver, const std::uint8_t channel)
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virtual MotorDriverState ReadState() override
Reads motor state data and saves last timestamps.
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virtual void SendCmdVel(const std::int32_t cmd) override
Sends commands to the motors.
- Parameters:
cmd – command value in the range [-1000, 1000]
- Throws:
std::runtime_error – if operation fails
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virtual void TurnOnSafetyStop() override
Sends a safety stop command to the motor connected to channel 1.
- Throws:
std::runtime_error – if any operation returns error
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inline RoboteqMotorDriver(std::weak_ptr<RoboteqDriver> driver, const std::uint8_t channel)