#include <TitanDriver_ros_wrapper.h>

Public Member Functions
	TitanDriverROSWrapper (ros::NodeHandle nh, VMXPi vmx)
	Constructs the TitanDriverROSWrapper object using the specified parameters. More...

	~TitanDriverROSWrapper ()
	Destructor for the TitanDriverROSWrapper object. More...

bool	SetMotorSpeed (vmxpi_ros::MotorSpeed::Request &req, vmxpi_ros::MotorSpeed::Response &res)
	Provides a ROS service to set the specified motor's speed. More...

bool	callbackStop (std_srvs::Trigger::Request &req, std_srvs::Trigger::Response &res)
	Provides a ROS service o stop all motors. More...

void	StopMotor (int motor)
	Method to stop a specified motor. More...

void	StopAllMotors ()
	Method to stop all motors. More...

bool	Enable (std_srvs::Trigger::Request &req, std_srvs::Trigger::Response &res)
	Enables Titan by sending an enabled flag through the object's run loop. More...

bool	Disable (std_srvs::Trigger::Request &req, std_srvs::Trigger::Response &res)
	Disables Titan by sending a disabled flag through the object's run loop. More...

bool	ResetEncoder (vmxpi_ros::Int::Request &req, vmxpi_ros::Int::Response &res)
	Resets encoder count for specified encoder. More...

bool	ResetAllEncoders (std_srvs::Trigger::Request &req, std_srvs::Trigger::Response &res)
	Resets encoder counts for all motors. More...

bool	SetMotorStopMode (vmxpi_ros::StopMode::Request &req, vmxpi_ros::StopMode::Response &res)
	Sets the stop mode on the specified motor (0 = coast, 1 = break). More...

void	PubUniqueID ()
	Publishes Titan's unique ID to /titan/unique_id. More...

void	PubTitanInfo ()
	Publishes Titan's info (version, hardware) to /titan/info. More...

void	PubMotorSpeed (uint8_t motor)
	Publishes motor speed (0 - 1.0) to titan/motorX/speed. More...

void	PubMotorFreq ()
	Publishes motor frequencies to /titan/motorX/freq. More...

void	GetCountRPM ()
	Returns the encoder count + RPM packet for each encoder. More...

void	PubEncoderCount (int8_t encoder)
	Publishes the encoder counts to /titan/encoderX/count. More...

void	PubEncoderDist (int8_t encoder)
	Publishes encoder distances to /titan/encoderX/distance. More...

void	PubRPM (uint8_t motor)
	Publishes the RPM of the specified motor to /titan/motorX/rpm. More...

void	PubLimitSwitch ()
	Publishes limit switch values to /titan/limit_switch. More...

void	PubMCUTemp ()
	Publishes MCU (CPU) temp to /titan/mcu_temp. More...

void	Run1_t ()
	Provides a method to call the first thread of various Publishers of the TitanDriverROSWrapper library advertising sensor data to the ROS Master node. More...

void	Run2_t ()

Constructor & Destructor Documentation

◆ TitanDriverROSWrapper()

TitanDriverROSWrapper::TitanDriverROSWrapper	(	ros::NodeHandle *	nh,
		VMXPi *	vmx
	)

Constructs the TitanDriverROSWrapper object using the specified parameters.

Parameters

nh	Internal reference to the ROS node that the program will use to interact with the ROS system.
vmx	VMX-pi parameter used to initialize the VMX-pi HAL.

◆ ~TitanDriverROSWrapper()

TitanDriverROSWrapper::~TitanDriverROSWrapper ( )

Destructor for the TitanDriverROSWrapper object.

Member Function Documentation

◆ callbackStop()

bool TitanDriverROSWrapper::callbackStop	(	std_srvs::Trigger::Request &	req,
		std_srvs::Trigger::Response &	res
	)

Provides a ROS service o stop all motors.

Parameters

req	Trigger request type defined in the ROS srv files.
res	Trigger response type defined in the ROS srv files.

Returns: TRUE when all the motors have been stopped.

◆ Disable()

bool TitanDriverROSWrapper::Disable	(	std_srvs::Trigger::Request &	req,
		std_srvs::Trigger::Response &	res
	)

Disables Titan by sending a disabled flag through the object's run loop.

Parameters

req	Trigger request type defined in the ROS srv files.
res	Trigger response type defined in the ROS srv files.

Returns: TRUE when the enabled flag has been set to false.

◆ Enable()

bool TitanDriverROSWrapper::Enable	(	std_srvs::Trigger::Request &	req,
		std_srvs::Trigger::Response &	res
	)

Enables Titan by sending an enabled flag through the object's run loop.

Parameters

req	Trigger request type defined in the ROS srv files.
res	Trigger response type defined in the ROS srv files.

Returns: TRUE when the enabled flag has been set to true.

◆ GetCountRPM()

void TitanDriverROSWrapper::GetCountRPM ( )

Returns the encoder count + RPM packet for each encoder.

◆ PubEncoderCount()

void TitanDriverROSWrapper::PubEncoderCount ( int8_t encoder )

Publishes the encoder counts to /titan/encoderX/count.

Parameters

encoder Parameter to specify the encoder.

◆ PubEncoderDist()

void TitanDriverROSWrapper::PubEncoderDist ( int8_t encoder )

Publishes encoder distances to /titan/encoderX/distance.

Parameters

encoder Parameter to specify the encoder.

◆ PubLimitSwitch()

void TitanDriverROSWrapper::PubLimitSwitch ( )

Publishes limit switch values to /titan/limit_switch.

Sent as a bool array: {M0 L H, M0 L L, M1 L H, M1 L L, M2 L H, M2 L L, M3 L H, M3 L L}

L = Low limit switch, H = High limit switch

◆ PubMCUTemp()

void TitanDriverROSWrapper::PubMCUTemp ( )

Publishes MCU (CPU) temp to /titan/mcu_temp.

◆ PubMotorFreq()

void TitanDriverROSWrapper::PubMotorFreq ( )

Publishes motor frequencies to /titan/motorX/freq.

◆ PubMotorSpeed()

void TitanDriverROSWrapper::PubMotorSpeed ( uint8_t motor )

Publishes motor speed (0 - 1.0) to titan/motorX/speed.

Parameters

motor Parameter to specify the motor.

◆ PubRPM()

void TitanDriverROSWrapper::PubRPM ( uint8_t motor )

Publishes the RPM of the specified motor to /titan/motorX/rpm.

Parameters

motor Parameter to specify the motor.

◆ PubTitanInfo()

void TitanDriverROSWrapper::PubTitanInfo ( )

Publishes Titan's info (version, hardware) to /titan/info.

deviceID: int32 (1-63)

verMaj: int32 (version format is <verMaj>.<verMin>.<verBuild>)

verMin: int32

verBuild: int32

hardware: int32 (1 = Titan Quad, 2 = Titan Small)

hardwareRev: int32

◆ PubUniqueID()

void TitanDriverROSWrapper::PubUniqueID ( )

Publishes Titan's unique ID to /titan/unique_id.

word1: hex value

word2: hex value

word3: hex value

Format: <word1>.<word2>.<word3>

◆ ResetAllEncoders()

bool TitanDriverROSWrapper::ResetAllEncoders	(	std_srvs::Trigger::Request &	req,
		std_srvs::Trigger::Response &	res
	)

Resets encoder counts for all motors.

Parameters

req	Trigger request type defined in the ROS srv files.
res	Trigger response type defined in the ROS srv files.

Returns: TRUE when the encoder counts for all the motors have been reset.

◆ ResetEncoder()

bool TitanDriverROSWrapper::ResetEncoder	(	vmxpi_ros::Int::Request &	req,
		vmxpi_ros::Int::Response &	res
	)

Resets encoder count for specified encoder.

Parameters

req	Int request type defined in the Int.srv file.
res	Int response type defined in the Int.srv file.

Returns: TRUE when the encoder count of the specified motor has been reset.

◆ Run1_t()

void TitanDriverROSWrapper::Run1_t ( )

Provides a method to call the first thread of various Publishers of the TitanDriverROSWrapper library advertising sensor data to the ROS Master node.

◆ Run2_t()

void TitanDriverROSWrapper::Run2_t ( )

Provides a method to call the second thread of various Publishers of the TitanDriverROSWrapper library advertising sensor data to the ROS Master node.

◆ SetMotorSpeed()

bool TitanDriverROSWrapper::SetMotorSpeed	(	vmxpi_ros::MotorSpeed::Request &	req,
		vmxpi_ros::MotorSpeed::Response &	res
	)

Provides a ROS service to set the specified motor's speed.

NOTE: Valid values range from 0 - 1.0.

Parameters

req	Request service type defined in the MotorSpeed.srv file.
res	Response service type defined in the MotorSpeed.srv file.

Returns: TRUE after setting the speed of a specific motor.

◆ SetMotorStopMode()

bool TitanDriverROSWrapper::SetMotorStopMode	(	vmxpi_ros::StopMode::Request &	req,
		vmxpi_ros::StopMode::Response &	res
	)

Sets the stop mode on the specified motor (0 = coast, 1 = break).

Parameters

req	StopMode request service type defined in the StopMode.srv file.
res	StopMode response service type defined in the StopMode srv file.

Returns: TRUE when the stop mode of the specified motor has been set.

◆ StopAllMotors()

void TitanDriverROSWrapper::StopAllMotors ( )

Method to stop all motors.

◆ StopMotor()

void TitanDriverROSWrapper::StopMotor ( int motor )

Method to stop a specified motor.

Parameters

motor The requested motor.

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

C:/Users/adeya/CLionProjects/ros-dev/vmxpi_ros_titan/include/TitanDriver_ros_wrapper.h
C:/Users/adeya/CLionProjects/ros-dev/vmxpi_ros_titan/src/TitanDriver_ros_wrapper.cpp

Public Member Functions

Constructor & Destructor Documentation

◆ TitanDriverROSWrapper()

◆ ~TitanDriverROSWrapper()

Member Function Documentation

◆ callbackStop()

◆ Disable()

◆ Enable()

◆ GetCountRPM()

◆ PubEncoderCount()

◆ PubEncoderDist()

◆ PubLimitSwitch()

◆ PubMCUTemp()

◆ PubMotorFreq()

◆ PubMotorSpeed()

◆ PubRPM()

◆ PubTitanInfo()

◆ PubUniqueID()

◆ ResetAllEncoders()

◆ ResetEncoder()

◆ Run1_t()

◆ Run2_t()

◆ SetMotorSpeed()

◆ SetMotorStopMode()

◆ StopAllMotors()

◆ StopMotor()