cob_base_drive_chain

Summary

cob_base_drive_chain
Version:

0.6.5
Description:

This package contains classes that are able to control the platform of the Care-O-Bot. This means to establish a CAN communication to drive and steering motors of the platform and later send motion commands and receive motor information.
Maintainers:
  • Matthias Gruhler <mig AT ipa DOT fhg DOT de>
Licenses:
  • LGPL
Urls:
Authors:
  • Christian Connette
BuildDepends:
BuildtoolDepends:
 
BuildExportDepends:
 
ExecDepends:

Types

Service types

cob_base_drive_chain/ElmoRecorderConfig
Field (Request):
 
  • recordinggap (int64) –
Field (Response):
 
  • success (int64) –
  • message (string) –

This service is used to configure the Elmo Recorder.

Specify every which time quantum (4*90usec) a new data point (of 1024 points in total) is recorded. the recording process starts immediately.

#This service is used to configure the Elmo Recorder.

#Specify every which time quantum (4*90usec) a new data point (of 1024 points in total) is recorded. the recording process starts immediately.
int64 recordinggap

---
#You get a success code, that will be 0
int64 success
string message
cob_base_drive_chain/ElmoRecorderReadout
Field (Request):
 
  • subindex (int64) –
  • fileprefix (string) –
Field (Response):
 
  • success (int64) –
  • message (string) –

This service is used to start the read-out process of previously recorded data by the Elmo Recorder in Harmonica drives.

As Subindex, set the recorded source you want to read out: 1: Main Speed 2: Main Position 10: ActiveCurrent 16: Speed Command

#This service is used to start the read-out process of previously recorded data by the Elmo Recorder in Harmonica drives.
#

#As Subindex, set the recorded source you want to read out:
#1: Main Speed
#2: Main Position
#10: ActiveCurrent
#16: Speed Command
int64 subindex

#Enter the path+file-prefix for the logfile (of an existing directory!)
#The file-prefix is extended with _MotorNumber_RecordedSource.log
string fileprefix

---

#As return you get a succes-code and an according message

#0: Successfully requested reading out of Recorded data
#1: Recorder hasn't been configured yet
#2: A previous transmission is still in progress
int64 success

string message