Class DoubleDjiMotor

• Defined in File double_dji_motor.hpp

Inheritance Relationships

Base Type

• public tap::motor::MotorInterface (Class MotorInterface)

Class Documentation

class DoubleDjiMotor : public tap::motor::MotorInterface

Wraps two motors assumed to be connected to a rigid drive shaft. Assumes that the two motors are identical with the same gear ratio and are dji motors with the same communication and control interface (for example, two M3508’s, two 6020’s, etc.).

Public Functions

DoubleDjiMotor(Drivers *drivers, MotorId desMotorIdentifierOne, MotorId desMotorIdentifierTwo, tap::can::CanBus motorCanBusOne, tap::can::CanBus motorCanBusTwo, bool isInvertedOne, bool isInvertedTwo, const char *nameOne, const char *nameTwo, uint16_t encWrapped = DjiMotor::ENC_RESOLUTION / 2, int64_t encRevolutions = 0)

virtual void initialize() override

virtual float getPositionUnwrapped() const override

virtual float getPositionWrapped() const override

virtual int64_t getEncoderUnwrapped() const override

virtual uint16_t getEncoderWrapped() const override

virtual void resetEncoderValue() override

virtual void setDesiredOutput(int32_t desiredOutput) override

virtual bool isMotorOnline() const override

virtual int16_t getOutputDesired() const override

virtual int8_t getTemperature() const override

virtual int16_t getTorque() const override

virtual int16_t getShaftRPM() const override

Protected Attributes

DjiMotor motorOne

DjiMotor motorTwo