Actuators::Torqeedo Namespace Reference

Detailed Description

This task acts as a bridge between the Maritime Robotics(MR) Interface card to Torqeedo motors and batteries, and DUNE with IMC messages Messages are sent to the motors periodically, at least once per/second, or else motors stops(see msg_tq_motor_set in mr_can.h from MR)

Reads and writes CAN frames to a buffer that is sent to Hardware::SocketCAN.

Author

Nikolai Lauvås

Classes
struct	Arguments
struct	PowerChannel
struct	Task

Enumerations
enum	torqeedo_msg_identifiers_t {   MSG_TEXT, MSG_CAP_AMP, MSG_CAP_WATT, MSG_RAIL,   MSG_HOUSEKEEPING, MSG_TEMPERATURE, MSG_ID, MSG_BATCELLS,   MSG_OUTPUTS, MSG_OUTPUT_SET, MSG_UPTIME, MSG_BOOTLOADER,   MSG_TQ_MOTOR_DRIVE, MSG_TQ_MOTOR_SET, MSG_TQ_BAT_STATUS, MSG_TQ_BATCTL,   MSG_TQ_MOTOR_STATUS_BITS, MSG_RESET, MSG_WINCH_TELEMETRY, MSG_WINCH_COMMAND,   MSG_WINCH_MOVING, MSG_ID_V2 }
enum	torqeedo_power_rails_t {   R_H_MOT0, R_H_MOT1, R_H_AUX0, R_H_AUX1,   R_H_12V1, R_H_12V2, R_H_12V3, R_H_VR0,   R_H_VR1, R_H_5V }
enum	torqeedo_power_channels_t {   CH_H_MOT0, CH_H_MOT1, CH_H_AUX0, CH_H_AUX1,   CH_H_12V1, CH_H_12V2, CH_H_12V3, CH_H_VR0,   CH_H_VR1, CH_H_5V }

Enumeration Type Documentation

torqeedo_msg_identifiers_t

enum Actuators::Torqeedo::torqeedo_msg_identifiers_t

Enumerator
MSG_TEXT
MSG_CAP_AMP
MSG_CAP_WATT
MSG_RAIL
MSG_HOUSEKEEPING
MSG_TEMPERATURE
MSG_ID
MSG_BATCELLS
MSG_OUTPUTS
MSG_OUTPUT_SET
MSG_UPTIME
MSG_BOOTLOADER
MSG_TQ_MOTOR_DRIVE
MSG_TQ_MOTOR_SET
MSG_TQ_BAT_STATUS
MSG_TQ_BATCTL
MSG_TQ_MOTOR_STATUS_BITS
MSG_RESET
MSG_WINCH_TELEMETRY
MSG_WINCH_COMMAND
MSG_WINCH_MOVING
MSG_ID_V2

torqeedo_power_channels_t

enum Actuators::Torqeedo::torqeedo_power_channels_t

Enumerator
CH_H_MOT0
CH_H_MOT1
CH_H_AUX0
CH_H_AUX1
CH_H_12V1
CH_H_12V2
CH_H_12V3
CH_H_VR0
CH_H_VR1
CH_H_5V

torqeedo_power_rails_t

enum Actuators::Torqeedo::torqeedo_power_rails_t

Enumerator
R_H_MOT0
R_H_MOT1
R_H_AUX0
R_H_AUX1
R_H_12V1
R_H_12V2
R_H_12V3
R_H_VR0
R_H_VR1
R_H_5V