#include <EncoderStateCalculator.h>

Inheritance diagram for EncoderStateCalculator:

Public Member Functions
	EncoderStateCalculator (const double &jointGearRatio, const double &pwmFrequency, const double &pwmDeadTime, const double &busVoltage, const double &motorCurrentLimit, const double &phaseResistance, const double &backEmfConstant, const double &jointKinematicDirection, const double &encoderMountingDirection, const double &encoderGlitchScalar, const double &encoderVelocityBlendStop, const double &encoderVelocityBlendStart)
double	getPosition (const double &encoderPositionReference, const int32_t &incrementalEncoderReference, const int32_t &incrementalEncoderNow)
	Calculates joint position.
double	getVelocity (int32_t timer, const int32_t &timeout, const int32_t &encoderAccumulation, const double &measuredControlRateHz)
	Calculates motor velocity. User must divide by joint gear ratio to get joint velocity.
virtual	~EncoderStateCalculator ()
Public Attributes
double	busVoltageRatio
int32_t	encoderAccumulationPrevious
double	encoderCountsPerMotorRevolution
	Values from calculations.
double	encoderCountsToJointRadians
double	encoderPosition
double	encoderRadiansPerCount
double	encoderVelocityBlended
double	encoderVelocityHighFrequency
double	encoderVelocityLowFrequency
double	encoderVelocityLowFrequencyPrevious
double	gammaBlend
double	gammaBlendDenominator
double	maxEncoderVelocity
Private Member Functions
double	applyLimits (const double &value, const double &lowerLimit, const double &upperLimit)
Private Attributes
double	backEmfConstant
double	backEmfConstantMinimum
	motor controller rate
double	busVoltage
double	clockFrequency
	constant from motor controller
double	encoderGlitchScalar
double	encoderMountingDirection
double	encoderTickTimeout
	Values that are constant.
double	encoderVelocityBlendStart
double	encoderVelocityBlendStop
double	jointGearRatio
	Values from coefficient files.
double	jointKinematicDirection
	cannot be les than 1e-4
double	motorCurrentLimit
	might be changed to brainstem value
double	phaseResistance
double	pwmDeadTime
double	pwmFrequency

Detailed Description

Definition at line 10 of file EncoderStateCalculator.h.

Constructor & Destructor Documentation

EncoderStateCalculator::EncoderStateCalculator	(	const double &	jointGearRatio,
		const double &	pwmFrequency,
		const double &	pwmDeadTime,
		const double &	busVoltage,
		const double &	motorCurrentLimit,
		const double &	phaseResistance,
		const double &	backEmfConstant,
		const double &	jointKinematicDirection,
		const double &	encoderMountingDirection,
		const double &	encoderGlitchScalar,
		const double &	encoderVelocityBlendStop,
		const double &	encoderVelocityBlendStart
	)

To prevent enormous max velocity, ensure backEmfConstant is large enough.

check to make sure start and stop are input correctly

Definition at line 3 of file EncoderStateCalculator.cpp.

EncoderStateCalculator::~EncoderStateCalculator ( ) [virtual]

Definition at line 52 of file EncoderStateCalculator.cpp.

Member Function Documentation

double EncoderStateCalculator::applyLimits	(	const double &	value,
		const double &	lowerLimit,
		const double &	upperLimit
	)		`[private]`

Definition at line 131 of file EncoderStateCalculator.cpp.

double EncoderStateCalculator::getPosition	(	const double &	encoderPositionReference,
		const int32_t &	incrementalEncoderReference,
		const int32_t &	incrementalEncoderNow
	)

Calculates joint position.

Definition at line 59 of file EncoderStateCalculator.cpp.

double EncoderStateCalculator::getVelocity	(	int32_t	timer,
		const int32_t &	timeout,
		const int32_t &	encoderAccumulation,
		const double &	measuredControlRateHz
	)