Profile Class Reference

#include <profile.h>

Public Member Functions
	Profile (Cia402Drive &cia402_drive, int64_t target, uint32_t velocity, uint32_t acceleration, uint32_t deceleration, uint32_t torque_slope, float sine_frequency, uint32_t sustain_time_ms, bool repeat, bool master_generated=false, bool absolute_target=false)
	~Profile ()
MotionMasterError	start_ramp_position_profile (std::function< void(MotionMasterWarning)> warning_callback=nullptr)
	Start executing a position trapezoidal profile from zero to target. (Z - zero; T - target)
MotionMasterError	start_trapezoidal_position_profile (std::function< void(MotionMasterWarning)> warning_callback=nullptr)
	Start executing a position trapezoidal profile from zero to target, then back to zero. (Z - zero; T - target)
MotionMasterError	start_bidirectional_position_profile (std::function< void(MotionMasterWarning)> warning_callback=nullptr)
	Start executing a position trapezoidal profile from zero to target, then back to negative target and then zero. (Z - zero; T - target; nT - negative target).
MotionMasterError	start_sine_wave_position_profile ()
	Start executing a position sine wave profile.
MotionMasterError	start_ramp_velocity_profile (std::function< void(MotionMasterWarning)> warning_callback=nullptr, bool non_stop=false)
	Start executing a velocity trapezoidal profile from zero to target. (Z - zero; T - target)
MotionMasterError	start_trapezoidal_velocity_profile (std::function< void(MotionMasterWarning)> warning_callback=nullptr)
	Start executing a velocity trapezoidal profile from zero to target, then back to zero. (Z - zero; T - target)
MotionMasterError	start_bidirectional_velocity_profile (std::function< void(MotionMasterWarning)> warning_callback=nullptr)
	Start executing a velocity trapezoidal profile from zero to target, then back to negative target and then zero. (Z - zero; T - target; nT - negative target).
MotionMasterError	start_sine_wave_velocity_profile ()
	Start executing a velocity sine wave profile.
MotionMasterError	start_ramp_torque_profile (std::function< void(MotionMasterWarning)> warning_callback=nullptr)
	Start executing a torque trapezoidal profile from zero to target. (Z - zero; T - target)
MotionMasterError	start_trapezoidal_torque_profile (std::function< void(MotionMasterWarning)> warning_callback=nullptr)
	Start executing a torque trapezoidal profile from zero to target, then back to zero. (Z - zero; T - target)
MotionMasterError	start_bidirectional_torque_profile (std::function< void(MotionMasterWarning)> warning_callback=nullptr)
	Start executing a torque trapezoidal profile from zero to target, then back to negative target and then zero. (Z - zero; T - target; nT - negative target).
MotionMasterError	start_sine_wave_torque_profile ()
	Start executing a torque sine wave profile.
void	stop ()
	Stop the currently running (repeating) profile after a full cycle.
bool	was_aborted () const
	Indicates if the profile has been aborted before it finished.

Constructor & Destructor Documentation

Profile()

Profile::Profile	(	Cia402Drive &	cia402_drive,
		int64_t	target,
		uint32_t	velocity,
		uint32_t	acceleration,
		uint32_t	deceleration,
		uint32_t	torque_slope,
		float	sine_frequency,
		uint32_t	sustain_time_ms,
		bool	repeat,
		bool	master_generated = false,
		bool	absolute_target = false )

~Profile()

Profile::~Profile

(

)

Member Function Documentation

start_bidirectional_position_profile()

MotionMasterError Profile::start_bidirectional_position_profile

(

std::function< void(MotionMasterWarning)>

warning_callback = nullptr

)

Start executing a position trapezoidal profile from zero to target, then back to negative target and then zero. (Z - zero; T - target; nT - negative target).

\parameter warning_callback a function for sending warnings

Returns

MotionMasterError if any

start_bidirectional_torque_profile()

MotionMasterError Profile::start_bidirectional_torque_profile

(

std::function< void(MotionMasterWarning)>

warning_callback = nullptr

)

Start executing a torque trapezoidal profile from zero to target, then back to negative target and then zero. (Z - zero; T - target; nT - negative target).

\parameter warning_callback a function for sending warnings

Returns

MotionMasterError if any

start_bidirectional_velocity_profile()

MotionMasterError Profile::start_bidirectional_velocity_profile

(

std::function< void(MotionMasterWarning)>

warning_callback = nullptr

)

Start executing a velocity trapezoidal profile from zero to target, then back to negative target and then zero. (Z - zero; T - target; nT - negative target).

\parameter warning_callback a function for sending warnings

Returns

MotionMasterError if any

start_ramp_position_profile()

MotionMasterError Profile::start_ramp_position_profile

(

std::function< void(MotionMasterWarning)>

warning_callback = nullptr

)

Start executing a position trapezoidal profile from zero to target. (Z - zero; T - target)

\parameter warning_callback a function for sending warnings

Returns

MotionMasterError if any

start_ramp_torque_profile()

MotionMasterError Profile::start_ramp_torque_profile

(

std::function< void(MotionMasterWarning)>

warning_callback = nullptr

)

Start executing a torque trapezoidal profile from zero to target. (Z - zero; T - target)

\parameter warning_callback a function for sending warnings

Returns

MotionMasterError if any

start_ramp_velocity_profile()

MotionMasterError Profile::start_ramp_velocity_profile	(	std::function< void(MotionMasterWarning)>	warning_callback = nullptr,
		bool	non_stop = false )

Start executing a velocity trapezoidal profile from zero to target. (Z - zero; T - target)

\parameter warning_callback a function for sending warnings \parameter non_stop do not stop the profile

Returns

MotionMasterError if any

start_sine_wave_position_profile()

MotionMasterError Profile::start_sine_wave_position_profile

(

)

Start executing a position sine wave profile.

Returns

MotionMasterError if any

start_sine_wave_torque_profile()

MotionMasterError Profile::start_sine_wave_torque_profile

(

)

Start executing a torque sine wave profile.

Returns

MotionMasterError if any

start_sine_wave_velocity_profile()

MotionMasterError Profile::start_sine_wave_velocity_profile

(

)

Start executing a velocity sine wave profile.

Returns

MotionMasterError if any

start_trapezoidal_position_profile()

MotionMasterError Profile::start_trapezoidal_position_profile

(

std::function< void(MotionMasterWarning)>

warning_callback = nullptr

)

Start executing a position trapezoidal profile from zero to target, then back to zero. (Z - zero; T - target)

\parameter warning_callback a function for sending warnings

Returns

MotionMasterError if any

start_trapezoidal_torque_profile()

MotionMasterError Profile::start_trapezoidal_torque_profile

(

std::function< void(MotionMasterWarning)>

warning_callback = nullptr

)

Start executing a torque trapezoidal profile from zero to target, then back to zero. (Z - zero; T - target)

\parameter warning_callback a function for sending warnings

Returns

MotionMasterError if any

start_trapezoidal_velocity_profile()

MotionMasterError Profile::start_trapezoidal_velocity_profile

(

std::function< void(MotionMasterWarning)>

warning_callback = nullptr

)

Start executing a velocity trapezoidal profile from zero to target, then back to zero. (Z - zero; T - target)

\parameter warning_callback a function for sending warnings

Returns

MotionMasterError if any

stop()

void Profile::stop

(

)

Stop the currently running (repeating) profile after a full cycle.

was_aborted()

bool Profile::was_aborted

(

)

const

Indicates if the profile has been aborted before it finished.

Returns

true if aborted, otherwise false

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The documentation for this class was generated from the following files:

• apps/motion_master/profile.h
• apps/motion_master/profile.cc