Drive.h File Reference

#include <CANopen.h>
#include <CO_command.h>
#include <string.h>
#include <map>
#include <sstream>
#include <vector>

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Classes
struct	motorProfile
	struct to hold desired velocity, acceleration and deceleration values for a drives motor controller profile. More...
class	Drive
	Abstract class describing a Drive used to communicate with a CANbus device. Note that many functions are implemented according to the CiA 402 Standard (but can be overridden) More...

Macros
#define	CANMESSAGELENGTH   100

Enumerations
enum	ControlMode {   UNCONFIGURED = 0, POSITION_CONTROL = 1, VELOCITY_CONTROL = 2, TORQUE_CONTROL = 3,   ERROR = -1 }
enum	DriveState { DISABLED = 0, READY_TO_SWITCH_ON = 1, ENABLED = 2 }
enum	OD_Entry_t {   STATUS_WORD = 0, ACTUAL_POS = 1, ACTUAL_VEL = 2, ACTUAL_TOR = 3,   TARGET_POS = 11, TARGET_VEL = 12 }
	Commonly-used entries defined in the Object Dictionary for CiA402 Drives. More...

Macro Definition Documentation

#define CANMESSAGELENGTH   100

The Drive class is used to interface with a CANOpen motor drive. According to the CiA402 standard

This class enables low level functions to the system. It does limited error checking.

Version 0.1 Date: 07/04/2020

Definition at line 22 of file Drive.h.

Enumeration Type Documentation

enum ControlMode

Enumerator
UNCONFIGURED
POSITION_CONTROL
VELOCITY_CONTROL
TORQUE_CONTROL
ERROR

Definition at line 25 of file Drive.h.

enum DriveState

Enumerator
DISABLED
READY_TO_SWITCH_ON
ENABLED

Definition at line 33 of file Drive.h.

enum OD_Entry_t

Commonly-used entries defined in the Object Dictionary for CiA402 Drives.

Enumerator
STATUS_WORD
ACTUAL_POS
ACTUAL_VEL
ACTUAL_TOR
TARGET_POS
TARGET_VEL

Definition at line 43 of file Drive.h.