The brake's configuration and its current state — one read of the parts of 0x2004 that decide what a release or engage will actually do. More...

#include <somanet_drive.h>

Public Member Functions
bool	softwareControllable () const
	Whether the firmware drives the brake, i.e. whether commanding 0x2004:07 does anything. False for `kManualOutputVoltage`, where the brake is a raw phase-D voltage instead.

bool	releaseMovesShaft () const
	Whether releasing this brake turns the motor — true only for a pin brake, whose release procedure lifts the load off the pin under progressively raised torque.

Public Attributes
somanet::BrakeStatus	status {somanet::BrakeStatus::kNotConfigured}
	0x2004:07.

somanet::BrakeReleaseStrategy	releaseStrategy
	0x2004:04.

std::chrono::milliseconds	pullTime {}
	0x2004:03.

uint32_t	pullVoltageMv = 0
	0x2004:01.

uint32_t	holdVoltageMv = 0
	0x2004:02.

Detailed Description

The brake's configuration and its current state — one read of the parts of 0x2004 that decide what a release or engage will actually do.

Returned by the brake operations as well as by brakeState, so a caller always learns the outcome from the same shape. It is also the answer to "why did nothing happen?": a release is a no-op when the brake is not firmware-controlled, and softwareControllable says so without the caller having to know that strategy 0 means manual.

Member Function Documentation

◆ releaseMovesShaft()

bool mm::node::BrakeState::releaseMovesShaft ( ) const

inline

Whether releasing this brake turns the motor — true only for a pin brake, whose release procedure lifts the load off the pin under progressively raised torque.

◆ softwareControllable()

bool mm::node::BrakeState::softwareControllable ( ) const

inline

Whether the firmware drives the brake, i.e. whether commanding 0x2004:07 does anything. False for kManualOutputVoltage, where the brake is a raw phase-D voltage instead.

Member Data Documentation

◆ holdVoltageMv

uint32_t mm::node::BrakeState::holdVoltageMv = 0

0x2004:02.

◆ pullTime

std::chrono::milliseconds mm::node::BrakeState::pullTime {}

0x2004:03.

◆ pullVoltageMv

uint32_t mm::node::BrakeState::pullVoltageMv = 0

0x2004:01.

◆ releaseStrategy

somanet::BrakeReleaseStrategy mm::node::BrakeState::releaseStrategy

Initial value:

{

somanet::BrakeReleaseStrategy::kManualOutputVoltage}

mm::node::somanet::BrakeReleaseStrategy::kManualOutputVoltage

@ kManualOutputVoltage

Not firmware-controlled — a raw phase-D voltage (0x2004:10).

0x2004:04.

◆ status

somanet::BrakeStatus mm::node::BrakeState::status {somanet::BrakeStatus::kNotConfigured}

0x2004:07.

The documentation for this struct was generated from the following file:

libs/node/somanet_drive.h

Public Member Functions

Public Attributes