upkie::cpp::interfaces::moteus Namespace Reference

Interface to moteus controllers used in pi3hat spines. More...

Classes
struct	CanFrame
	CAN frame data structure for the moteus protocol. More...
struct	Data
	Data for one control cycle. More...
class	MultiplexParser
	Parser for multiplex data in the moteus protocol. More...
struct	Output
	Output information forwarded to an interface's callback function. More...
struct	PositionCommand
	Position command. More...
struct	PositionResolution
	Resolution settings for position control commands. More...
struct	QueryCommand
	Resolution settings for query commands. More...
struct	QueryResult
	Result data from moteus query commands. More...
struct	ServoCommand
	Command sent to a servo. More...
struct	ServoReply
	Reply from servo. More...
class	Span
	Fixed-size array with runtime size information. More...
class	WriteCanFrame
	Writer for CAN frame data in the moteus protocol. More...
class	WriteCombiner
	Groups registers when encoding them to minimize the required bytes. More...

Enumerations
enum	Mode {   kStopped = 0, kFault = 1, kEnabling = 2, kCalibrating = 3,   kCalibrationComplete = 4, kPwm = 5, kVoltage = 6, kVoltageFoc = 7,   kVoltageDq = 8, kCurrent = 9, kPosition = 10, kPositionTimeout = 11,   kZeroVelocity = 12, kNumModes }
	Control mode.
enum	{ kCurrentRegisterMapVersion = 4 }
enum	Multiplex : uint32_t {   kWriteBase = 0x00, kWriteInt8 = 0x00, kWriteInt16 = 0x04, kWriteInt32 = 0x08,   kWriteFloat = 0x0c, kReadBase = 0x10, kReadInt8 = 0x10, kReadInt16 = 0x14,   kReadInt32 = 0x18, kReadFloat = 0x1c, kReplyBase = 0x20, kReplyInt8 = 0x20,   kReplyInt16 = 0x24, kReplyInt32 = 0x28, kReplyFloat = 0x2c, kWriteError = 0x30,   kReadError = 0x31, kClientToServer = 0x40, kServerToClient = 0x41, kClientPollServer = 0x42,   kNop = 0x50 }
	Multiplex register types in the moteus protocol.
enum	Register : uint32_t {   kMode = 0x000, kPosition = 0x001, kVelocity = 0x002, kTorque = 0x003,   kQCurrent = 0x004, kDCurrent = 0x005, kRezeroState = 0x00c, kVoltage = 0x00d,   kTemperature = 0x00e, kFault = 0x00f, kPwmPhaseA = 0x010, kPwmPhaseB = 0x011,   kPwmPhaseC = 0x012, kVoltagePhaseA = 0x014, kVoltagePhaseB = 0x015, kVoltagePhaseC = 0x016,   kVFocTheta = 0x018, kVFocVoltage = 0x019, kVoltageDqD = 0x01a, kVoltageDqQ = 0x01b,   kCommandQCurrent = 0x01c, kCommandDCurrent = 0x01d, kCommandPosition = 0x020, kCommandVelocity = 0x021,   kCommandFeedforwardTorque = 0x022, kCommandKpScale = 0x023, kCommandKdScale = 0x024, kCommandPositionMaxTorque = 0x025,   kCommandStopPosition = 0x026, kCommandTimeout = 0x027, kPositionKp = 0x030, kPositionKi = 0x031,   kPositionKd = 0x032, kPositionFeedforward = 0x033, kPositionCommand = 0x034, kRegisterMapVersion = 0x102,   kSerialNumber = 0x120, kSerialNumber1 = 0x120, kSerialNumber2 = 0x121, kSerialNumber3 = 0x122,   kRezero = 0x130 }
	Register addresses for moteus servo control and monitoring.
enum	Resolution {   kInt8, kInt16, kInt32, kFloat,   kIgnore }
	Data resolution types in the moteus protocol.

Functions
template<typename T >
T	Saturate (double value, double scale)
	Saturate a double value to fit within the range of type T after scaling.
void	EmitStopCommand (WriteCanFrame *frame)
	Emit a stop command to set the moteus servo to stopped mode. More...
void	EmitPositionCommand (WriteCanFrame *frame, const PositionCommand &command, const PositionResolution &resolution)
	Emit position command to control the servo position. More...
void	EmitQueryCommand (WriteCanFrame *frame, const QueryCommand &command)
	Emit a query command to request data from moteus servos. More...
QueryResult	ParseQueryResult (const uint8_t *data, size_t size)
	Parse query result data received from moteus servo into structured format.

Detailed Description

Interface to moteus controllers used in pi3hat spines.