UMRT Arm Firmware Library
Classes | Public Member Functions | Public Attributes | Protected Member Functions | Protected Attributes | List of all members
MksTest Class Reference
Collaboration diagram for MksTest:
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Classes

class  Commands
 
class  Constants
 Constants associated with MksTest.py. More...
 

Public Member Functions

 MksTest (const std::string &can_interface, std::vector< uint16_t > &&motor_ids, const uint8_t norm_factor=1)
 
void update ()
 
void sendTestRoutine ()
 

Public Attributes

string COM_PORT = '/dev/ttyACM3'
 
int DEVICE_ADDR = 0x01
 
 can_device = sys.argv[1]
 
int driver_can_id = 3 else 0x01
 
int bitrate = 4 else 500_000
 

Protected Member Functions

void onSetSpeed (const uint16_t motor, const bool status)
 
void onSendStep (const uint16_t motor, const MksMoveResponse status)
 
void onSeekPosition (const uint16_t motor, const MksMoveResponse status)
 
void onGetPosition (const uint16_t motor, const int32_t position)
 

Protected Attributes

MksStepperController s
 
std::thread test_thread
 
const std::vector< uint16_t > motor_ids
 
The documentation for this class was generated from the following files:
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