DUNE: Uniform Navigational Environment  2019.02.1
DUNE::Monitors::ServoCurrentMonitor< T > Class Template Reference

Public Member Functions

 ServoCurrentMonitor (const T lower_limit, const T upper_limit, const unsigned max_lfaults, const unsigned max_ufaults, const double fault_cooldown)
 
 ~ServoCurrentMonitor (void)
 
updateAndTest (const T &value)
 

Constructor & Destructor Documentation

template<typename T >
DUNE::Monitors::ServoCurrentMonitor< T >::ServoCurrentMonitor ( const T  lower_limit,
const T  upper_limit,
const unsigned  max_lfaults,
const unsigned  max_ufaults,
const double  fault_cooldown 
)
inline

Constructor.

Parameters
lower_limitcurrent lower limit to trigger detection
upper_limitcurrent upper limit to trigger detection
max_lfaultsmaximum number of lower faults
max_ufaultsmaximum number of upper faults
fault_cooldowncooldown time after a detection has been done

References DUNE::Time::Clock::get().

template<typename T >
DUNE::Monitors::ServoCurrentMonitor< T >::~ServoCurrentMonitor ( void  )
inline

Destructor.

Member Function Documentation

template<typename T >
T DUNE::Monitors::ServoCurrentMonitor< T >::updateAndTest ( const T &  value)
inline

Update function.

Parameters
valuecurrent measurement to be used in the detection
Returns
value of the exceeded current (if <= 0 then no fault was detected)

References DUNE::Time::Clock::get().

Collaboration diagram for DUNE::Monitors::ServoCurrentMonitor< T >:
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