Closes #3; fix: Remove unnecessary exceptions for maximum speed, curr…

…ent and position
2b-t · Mar 2, 2024 · ebcd4d3 · ebcd4d3
1 parent ac05c77
commit ebcd4d3
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Showing 3 changed files with 12 additions and 24 deletions.
diff --git a/include/myactuator_rmd/actuator_interface.hpp b/include/myactuator_rmd/actuator_interface.hpp
@@ -244,7 +244,7 @@ namespace myactuator_rmd {
        *    Send a current set-point to the actuator
        *
        * \param[in] current
-       *    The current set-point in Ampere [-20.00, 20.00]
+       *    The current set-point in Ampere
        * \return
        *    Feedback control message containing actuator position, velocity, torque and temperature
       */
@@ -255,9 +255,9 @@ namespace myactuator_rmd {
        *    Send an absolute position set-point to the actuator additionally specifying a maximum velocity
        *
        * \param[in] position
-       *    The position set-point in degree [-360.00, 360.00]
+       *    The position set-point in degree
        * \param[in] max_speed
-       *    The maximum speed for the motion in degree per second [-1320.0, 1320.0]
+       *    The maximum speed for the motion in degree per second
        * \return
        *    Feedback control message containing actuator position, velocity, torque and temperature
       */
@@ -282,7 +282,7 @@ namespace myactuator_rmd {
        *    Send a velocity set-point to the actuator
        *
        * \param[in] speed
-       *    The speed set-point in degree per second [-1320.00, 1320.00]
+       *    The speed set-point in degree per second
        * \return
        *    Feedback control message containing actuator position, velocity, torque and temperature
       */

diff --git a/include/myactuator_rmd/protocol/requests.hpp b/include/myactuator_rmd/protocol/requests.hpp
@@ -272,9 +272,9 @@ namespace myactuator_rmd {
        *    Class constructor
        * 
        * \param[in] position
-       *    The position set-point in degree [0.00, 360.00]
+       *    The position set-point in degree
        * \param[in] max_speed
-       *    The maximum speed for the motion in degree per second [0.0, 1320.0]
+       *    The maximum speed for the motion in degree per second
       */
       SetPositionAbsoluteRequest(float const position, float const max_speed);
       SetPositionAbsoluteRequest() = delete;
@@ -289,7 +289,7 @@ namespace myactuator_rmd {
        *    Get the maximum speed
        * 
        * \return
-       *    The maximum speed for the motion in degree per second [-1320.0, 1320.0]
+       *    The maximum speed for the motion in degree per second
       */
       [[nodiscard]]
       float getMaxSpeed() const noexcept;
@@ -299,7 +299,7 @@ namespace myactuator_rmd {
        *    Get the position
        * 
        * \return
-       *    The position set-point in degree [-360.00, 360.00]
+       *    The position set-point in degree
       */
       [[nodiscard]]
       float getPosition() const noexcept;
@@ -348,7 +348,7 @@ namespace myactuator_rmd {
        *    Class constructor
        * 
        * \param[in] current
-       *    The current set-point in Ampere [-20.00, 20.00]
+       *    The current set-point in Ampere
       */
       SetTorqueRequest(float const current);
       SetTorqueRequest() = delete;
@@ -363,7 +363,7 @@ namespace myactuator_rmd {
        *    Get the torque current
        * 
        * \return
-       *    The torque current in Ampere [-20.00, 20.00]
+       *    The torque current in Ampere
       */
       [[nodiscard]]
       float getTorqueCurrent() const noexcept;
@@ -380,7 +380,7 @@ namespace myactuator_rmd {
        *    Class constructor
        * 
        * \param[in] speed
-       *    The velocity set-point in degree per second [-1320.00, 1320.00]
+       *    The velocity set-point in degree per second
       */
       SetVelocityRequest(float const speed);
       SetVelocityRequest() = delete;
@@ -395,7 +395,7 @@ namespace myactuator_rmd {
        *    Get the velocity set-point
        * 
        * \return
-       *    The speed for the motion in degree per second [-1320.0, 1320.0]
+       *    The speed for the motion in degree per second
       */
       [[nodiscard]]
       float getSpeed() const noexcept;

diff --git a/src/protocol/requests.cpp b/src/protocol/requests.cpp
@@ -75,12 +75,6 @@ namespace myactuator_rmd {
 
   SetPositionAbsoluteRequest::SetPositionAbsoluteRequest(float const position, float const max_speed)
   : SingleMotorRequest{} {
-    if ((position < -360.0f) || (position > 360.0f)) {
-      throw ValueRangeException("Position value '" + std::to_string(position) + "' out of range [0.0, 360.0]");
-    }
-    if ((max_speed < -1320.0f) || (max_speed > 1320.0f)) {
-      throw ValueRangeException("Maximum speed value '" + std::to_string(max_speed) + "' out of range [0.0, 1320.0]");
-    }
     auto const v {static_cast<std::uint16_t>(max_speed)};
     auto const pos {static_cast<std::int32_t>(position*100.0f)};
     setAt(v, 2);
@@ -98,9 +92,6 @@ namespace myactuator_rmd {
 
   SetTorqueRequest::SetTorqueRequest(float const current)
   : SingleMotorRequest{} {
-    if ((current < -20.0f) || (current > 20.0f)) {
-      throw ValueRangeException("Current value '" + std::to_string(current) + "' out of range [-20.0, 20.0]");
-    }
     auto const c {static_cast<std::int16_t>(current/0.01f)};
     setAt(c, 4);
     return;
@@ -122,9 +113,6 @@ namespace myactuator_rmd {
 
   SetVelocityRequest::SetVelocityRequest(float const speed)
   : SingleMotorRequest{} {
-    if ((speed < -1320.0f) || (speed > 1320.0f)) {
-      throw ValueRangeException("Speed value '" + std::to_string(speed) + "' out of range [-1320.0, 1320.0]");
-    }
     auto const s {static_cast<std::int32_t>(speed*100.0f)};
     setAt(s, 4);
     return;