#include <DriveParam.h>

Public Member Functions
void	calcRadToIncr ()
double	convIncrPerPeriodToRadS (int iVelMotIncrPeriod)
	Conversions of encoder increments per measurment period to gear velocity in rad/s.
double	convIncrToRad (int iPosIncr)
	Conversions of encoder increments to wheel angle in radians.
void	convRadSToIncrPerPeriod (double dPosRad, double dVelRadS, int piPosIncr, int piVelIncrPeriod)
double	convRadSToIncrPerPeriod (double dVelWheelRadS)
	Conversions of gear velocity in rad/s to encoder increments per measurement period.
double	convRadToIncr (double dPosWheelRad)
	Conversions of wheel angle in radians to encoder increments.
	DriveParam ()
Public Attributes
double	dAccIncrS2
double	dBeltRatio
double	dDecIncrS2
double	dGearRatio
double	dModulo
double	dRadToIncr
double	dVelMaxEncIncrS
double	dVelMeasFrqHz
double	dVelPModeEncIncrS
int	iEncIncrPerRevMot
int	ihoming_active
int	imotor_active
int	iSign

Detailed Description

Parameters and conversion functionality of a motor drive.

Definition at line 46 of file DriveParam.h.

Constructor & Destructor Documentation

DriveParam::DriveParam ( ) [inline]

Definition at line 49 of file DriveParam.h.

void DriveParam::calcRadToIncr ( ) [inline]

Definition at line 79 of file DriveParam.h.

double DriveParam::convIncrPerPeriodToRadS ( int iVelMotIncrPeriod ) [inline]

Conversions of encoder increments per measurment period to gear velocity in rad/s.

Definition at line 116 of file DriveParam.h.

double DriveParam::convIncrToRad ( int iPosIncr ) [inline]

Conversions of encoder increments to wheel angle in radians.

Definition at line 104 of file DriveParam.h.

void DriveParam::convRadSToIncrPerPeriod	(	double	dPosRad,
		double	dVelRadS,
		int *	piPosIncr,
		int *	piVelIncrPeriod
	)		`[inline]`

Converts position and velocity.

Parameters:

dPosRad	position in radians
dVelRadS	velocity in radians per seconds
piPosIncr	converted position in increments
piVelIncrPeriod	converted velocity in increments per period

Definition at line 91 of file DriveParam.h.

double DriveParam::convRadSToIncrPerPeriod ( double dVelWheelRadS ) [inline]

Conversions of gear velocity in rad/s to encoder increments per measurement period.

Definition at line 110 of file DriveParam.h.

double DriveParam::convRadToIncr ( double dPosWheelRad ) [inline]

Conversions of wheel angle in radians to encoder increments.

Definition at line 98 of file DriveParam.h.