drq_ros

Description

ROS package for interfacing with the PMC on a murata drq1250.

Build Instructions

• catkin_make
• make sure devel is sourced for custom drq message

Nodes

drq_1250

file: drq1250_ros

Node name:

• drq_1250

Topics:

• status: Publishes drq1250/DRQ1250 status data from the DRQ.

Services:

Setters

• set_vin_uv_limit Call SetValue - Sets DRQ voltage in undervoltage value in volts

• set_vin_ov_limit Call SetValue - Sets DRQ voltage in overvoltage value in volts

• set_vout_uv_limit Call SetValue - Sets DRQ voltage out undervoltage value in volts

• set_vout_ov_limit Call SetValue - Sets DRQ value in volts

• set_iout_oc_limit Call SetValue - Sets DRQ value in volts

• set_ot_limit_handle Call SetValue - Sets maximum overtemperature limit

• set_iout_fault_response Call SetByte - Sets fault response for iout

• set_fault_response Call SetByte - Sets general fault response

• set_ton_delay Call SetValue - Sets delay for turning on (MS)

• set_ton_rise Call SetValue - Sets rise value for turning on (MS)

• set_toff_delay Call SetValue - Sets delay for turning off (MS)

• set_toff_fall Call SetValue - Set fall for turning off (MS)

• store_user_all Call Trigger - Stores all user settings

• restore_user_all Call Trigger - Restores all user settings

• restore_default_all Call Trigger - Restores default user settings

• clear_faults Call Trigger - Clears all faults

• reg_off Call Trigger - Turns off regulator output

• reg_on Call Trigger - Turns on regulator output

Getters

• get_vin_uv_limit_handle Call Float

• get_vin_ov_limit_handle Call Float

• get_vout_ov_limit_handle Call Float

• get_iout_oc_limit_handle Call Float

• get_ot_limit_handle Call Float

• get_ton_delay_handle Call Float

• get_ton_rise_handle Call Float

• get_toff_delay_handle Call Float

• get_toff_fall_handle Call Float

• get_iout_fault_response_handle Call Byte

• get_fault_response_handle Call Byte

MSG

DRQ1250

• float64 Vin - Voltage In
• float64 Vout - Voltage Out
• float64 Iout - Current Out
• float64 Pout - Power Out
• float64 tempurature - DRQ Temperature
• float64 dutyCycle -
• float64 switchingFreq -
• bool busy -
• bool off -
• bool vout_ov_fault - Overvoltage out fault
• bool iout_oc_fault - Overcurrent fault out
• bool vin_uv_fault- Undercurrent fault in
• bool temp_fault - Temperature fault
• bool cml_fault
• bool vout_fault
• bool iout_fault
• bool input_fault
• bool pwr_gd
• bool fan_fault
• bool other
• bool unknown

Launch Information

NA

Troubleshooting

Contributors

• Current maintaner: Michael Equi

• Contributors:

  • Michael Equi - initial work
  • Caelin Sutch - Documentation

Helpful Resources

• Previous vector drive implementation: https://github.com/JHSRobo/Programming/blob/Development/Mako/Bottomside/bottomside/VectorDrive.py