roboteq_msgs¶

Message types¶

• roboteq_msgs/Status
• roboteq_msgs/Feedback
• roboteq_msgs/Command

roboteq_msgs/Status¶

Field:

header (std_msgs/Header) – fault (uint8) – status (uint8) – ic_temperature (float32) – internal_voltage (float32) – adc_voltage (float32) –

Constant:

FAULT_OVERHEAT (uint8):1 – FAULT_OVERVOLTAGE (uint8):2 – FAULT_UNDERVOLTAGE (uint8):4 – FAULT_SHORT_CIRCUIT (uint8):8 – FAULT_EMERGENCY_STOP (uint8):16 – FAULT_SEPEX_EXCITATION_FAULT (uint8):32 – FAULT_MOSFET_FAILURE (uint8):64 – FAULT_STARTUP_CONFIG_FAULT (uint8):128 – STATUS_SERIAL_MODE (uint8):1 – STATUS_PULSE_MODE (uint8):2 – STATUS_ANALOG_MODE (uint8):4 – STATUS_POWER_STAGE_OFF (uint8):8 – STATUS_STALL_DETECTED (uint8):16 – STATUS_AT_LIMIT (uint8):32 – STATUS_MICROBASIC_SCRIPT_RUNNING (uint8):128 –

10Hz status message for informational/diagnostics purposes

# 10Hz status message for informational/diagnostics purposes
Header header

uint8 FAULT_OVERHEAT=1
uint8 FAULT_OVERVOLTAGE=2
uint8 FAULT_UNDERVOLTAGE=4
uint8 FAULT_SHORT_CIRCUIT=8
uint8 FAULT_EMERGENCY_STOP=16
uint8 FAULT_SEPEX_EXCITATION_FAULT=32
uint8 FAULT_MOSFET_FAILURE=64
uint8 FAULT_STARTUP_CONFIG_FAULT=128
uint8 fault

uint8 STATUS_SERIAL_MODE=1
uint8 STATUS_PULSE_MODE=2
uint8 STATUS_ANALOG_MODE=4
uint8 STATUS_POWER_STAGE_OFF=8
uint8 STATUS_STALL_DETECTED=16
uint8 STATUS_AT_LIMIT=32
uint8 STATUS_MICROBASIC_SCRIPT_RUNNING=128
uint8 status

# Temperature of main logic chip (C)
float32 ic_temperature

# Internal supply and reference voltage (V)
float32 internal_voltage
float32 adc_voltage

roboteq_msgs/Feedback¶

Field:	header (std_msgs/Header) – motor_current (float32) – motor_power (float32) – commanded_velocity (float32) – measured_velocity (float32) – measured_position (float32) – supply_voltage (float32) – supply_current (float32) – motor_temperature (float32) – channel_temperature (float32) –

50Hz feedback message for controls purposes

# 50Hz feedback message for controls purposes
Header header

# Current flowing in the motors (A)
float32 motor_current

# Output stage, as a proportion of full (-1..1)
float32 motor_power

# Commanded and measured speed of the motors (rad/s)
# Position is reported in rads, and wraps around +-6M
float32 commanded_velocity
float32 measured_velocity
float32 measured_position

# Electrical power supply to the driver (V, A)
float32 supply_voltage
float32 supply_current

# Measured temperatures (C)
# Motor temp is processed from a thermal sensor connected to analog input 1.
float32 motor_temperature
# Channel temp is the temperature of the FETs. This is reported by the controller.
float32 channel_temperature

roboteq_msgs/Command¶

Constant:	MODE_STOPPED (int8):-1 – MODE_VELOCITY (int8):0 – MODE_POSITION (int8):1 –
Field:	mode (int8) – setpoint (float32) –

Control whether the setpoint represents a velocity or position command. Velocity is the default, but position may be used for fine-grained movements, or active braking on an incline. Stopped is high-z (coasting).

# Control whether the setpoint represents a velocity or position command.
# Velocity is the default, but position may be used for fine-grained movements,
# or active braking on an incline. Stopped is high-z (coasting).
int8 MODE_STOPPED=-1
int8 MODE_VELOCITY=0
int8 MODE_POSITION=1
int8 mode

# Commanded velocity (rad/s) or position (rad) for the motor. Position uses
# the same scale as measured_position in the Feedback message.
float32 setpoint