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Unterschiede
Hier werden die Unterschiede zwischen zwei Versionen angezeigt.
| Beide Seiten der vorigen RevisionVorhergehende Überarbeitung | Letzte ÜberarbeitungBeide Seiten der Revision | ||
| embedded_systems:ethercatinterface:ethercatinterfaceelmo [2019-05-21 09:03] – mgehrig2 | embedded_systems:ethercatinterface:ethercatinterfaceelmo [2019-05-21 09:25] – mgehrig2 | ||
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| Zeile 27: | Zeile 27: | ||
| They are only completed when they return '' | They are only completed when they return '' | ||
| These methods must be called again in each cycle until they return '' | These methods must be called again in each cycle until they return '' | ||
| + | |||
| + | ==== Advanced set functions ==== | ||
| + | All advanced set functions with a boolean return value have to be called multiple times until they return true. | ||
| + | This is because the drives may need to run through multiple state changes and may have to send different commands depending on the state of the drive. | ||
| + | Call this methodes every cycle of your control system until it returns true. | ||
| + | |||
| + | ==== Advanced get functions ==== | ||
| + | This methodes implement additional logic to interpret the data from the EC bus and return a sensible value. | ||
| + | |||
| + | === getPosition / getPositionAux === | ||
| + | The methodes //" | ||
| + | The difference is added to the stored position (int64_t). | ||
| + | This approach prevents an overflow of a 32 bit integer. | ||
| + | |||
| + | These methodes consider a fixed offset as well. | ||
| + | The offset may be set with the index pulse (see below). | ||
| + | |||
| + | === Gain scheduling functions === | ||
| + | This functions are implemented for backwards compatibility are probably not used. | ||
| + | |||
| + | |||
| + | ==== Basic funcitons ==== | ||
| + | These functions provide some basice conversions for ease of use. | ||
| + | |||
| + | |||
| + | |||
| ===== EtherCatInterfaceElmo_config.hpp ===== | ===== EtherCatInterfaceElmo_config.hpp ===== | ||