Apollo 10.0
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apollo::canbus::zhongyun::Torquecontrola3类 参考

#include <torque_control_a3.h>

类 apollo::canbus::zhongyun::Torquecontrola3 继承关系图:
apollo::canbus::zhongyun::Torquecontrola3 的协作图:

Public 成员函数

 Torquecontrola3 ()
 
uint32_t GetPeriod () const override
 
void UpdateData (uint8_t *data) override
 
void Reset () override
 
Torquecontrola3set_driven_torque (double driven_torque)
 
Torquecontrola3set_driven_enable_control (Torque_control_a3::Driven_enable_controlType driven_enable_control)
 
- Public 成员函数 继承自 apollo::drivers::canbus::ProtocolData< ::apollo::canbus::Zhongyun >
 ProtocolData ()=default
 construct protocol data.
 
virtual ~ProtocolData ()=default
 destruct protocol data.
 
virtual int32_t GetLength () const
 
virtual void Parse (const uint8_t *bytes, int32_t length, ::apollo::canbus::Zhongyun *sensor_data) const
 
virtual void UpdateData_Heartbeat (uint8_t *data)
 

静态 Public 属性

static const int32_t ID = 0xA3
 

额外继承的成员函数

- 静态 Public 成员函数 继承自 apollo::drivers::canbus::ProtocolData< ::apollo::canbus::Zhongyun >
static std::uint8_t CalculateCheckSum (const uint8_t *input, const uint32_t length)
 static function, used to calculate the checksum of input array.
 
static T BoundedValue (T lower, T upper, T val)
 

详细描述

在文件 torque_control_a3.h26 行定义.

构造及析构函数说明

◆ Torquecontrola3()

apollo::canbus::zhongyun::Torquecontrola3::Torquecontrola3 ( )

在文件 torque_control_a3.cc30 行定义.

成员函数说明

◆ GetPeriod()

uint32_t apollo::canbus::zhongyun::Torquecontrola3::GetPeriod ( ) const
overridevirtual

重载 apollo::drivers::canbus::ProtocolData< ::apollo::canbus::Zhongyun > .

在文件 torque_control_a3.cc32 行定义.

32 {
33 // TODO(ChaoM) : modify every protocol's period manually
34 static const uint32_t PERIOD = 20 * 1000;
35 return PERIOD;
36}

◆ Reset()

void apollo::canbus::zhongyun::Torquecontrola3::Reset ( )
overridevirtual

重载 apollo::drivers::canbus::ProtocolData< ::apollo::canbus::Zhongyun > .

在文件 torque_control_a3.cc43 行定义.

43 {
44 // TODO(ChaoM) : you should check this manually
45 driven_torque_ = 0.0;
46 driven_enable_control_ =
48}

◆ set_driven_enable_control()

Torquecontrola3 * apollo::canbus::zhongyun::Torquecontrola3::set_driven_enable_control ( Torque_control_a3::Driven_enable_controlType  driven_enable_control)

在文件 torque_control_a3.cc73 行定义.

74 {
75 driven_enable_control_ = driven_enable_control;
76 return this;
77}

◆ set_driven_torque()

Torquecontrola3 * apollo::canbus::zhongyun::Torquecontrola3::set_driven_torque ( double  driven_torque)

在文件 torque_control_a3.cc50 行定义.

50 {
51 driven_torque_ = driven_torque;
52 return this;
53}

◆ UpdateData()

void apollo::canbus::zhongyun::Torquecontrola3::UpdateData ( uint8_t *  data)
overridevirtual

重载 apollo::drivers::canbus::ProtocolData< ::apollo::canbus::Zhongyun > .

在文件 torque_control_a3.cc38 行定义.

38 {
39 set_p_driven_torque(data, driven_torque_);
40 set_p_driven_enable_control(data, driven_enable_control_);
41}

类成员变量说明

◆ ID

const int32_t apollo::canbus::zhongyun::Torquecontrola3::ID = 0xA3
static

在文件 torque_control_a3.h29 行定义.


该类的文档由以下文件生成: