How can I have the motor power?

chokings · September 29, 2021, 12:19pm

Hi.
I’m a beginner at Rosbot.
I want to get the motor power from the motor driver.
Is it possible to get it?

byq77/drv88xx-driver-mbed/blob/61854e885cff79ea9113e0ecef8e32a727477fcb/DCMotor.h

#ifndef __DC_MOTOR_H__
#define __DC_MOTOR_H__

/**
 * @brief Motor selector.
 */
typedef enum
{
    MOT1 = 0,
    MOTA = 0,
    MOT2 = 1,
    MOTB = 1,
}MotNum;

/**
 * @brief DCMotor interface.
 */
class DCMotor
{
  public:

This file has been truncated. show original

There is a getPower function.
Is it possible to use it in the ros node?
And, what is the unit of power in the rosbot?

byq77 · October 6, 2021, 3:05pm

Hi,
Unfortunately, it’s some arbitrary function name used inside a internal driver class. It does not return power in watts if it is what you want. In case of that function it returns the current duty cycle for each motor as a number between -1.0 and 1.0 (sign indication direction).

Regards,
Szymon

chokings · October 20, 2021, 7:26am

Thank you for your answer.

Then, can I control the current duty cycle directly?