Actuator-specific feedback. More...

#include <feedback.hpp>

Public Member Functions
	Actuator (const HebiFeedbackRef &internal)

const EnumField< CommandLifetimeState > &	commandLifetimeState () const
	The state of the command lifetime safety controller, with respect to the current group. More...

const FloatField &	deflection () const
	Difference (in radians) between the pre-spring and post-spring output position. More...

const FloatField &	deflectionVelocity () const
	Velocity (in radians/second) of the difference between the pre-spring and post-spring output position. More...

const FloatField &	effort () const
	Effort at the module output; units vary (e.g., N * m for rotational joints and N for linear stages). More...

const FloatField &	effortCommand () const
	Commanded effort at the module output; units vary (e.g., N * m for rotational joints and N for linear stages). More...

const EnumField< EffortLimitState > &	effortLimitState () const
	Software-controlled bounds on the allowable effort of the module. More...

const FloatField &	motorCurrent () const
	Current supplied to the motor. More...

const FloatField &	motorHousingTemperature () const
	The estimated temperature of the motor housing. More...

const HighResAngleField &	motorPosition () const
	The position of an actuator’s internal motor before the gear reduction, in radians. More...

const FloatField &	motorSensorTemperature () const
	The temperature from a sensor near the motor housing. More...

const FloatField &	motorVelocity () const
	The velocity (in radians/second) of the motor shaft. More...

const FloatField &	motorWindingCurrent () const
	The estimated current in the motor windings. More...

const FloatField &	motorWindingTemperature () const
	The estimated temperature of the motor windings. More...

const EnumField< MstopState > &	mstopState () const
	Current status of the MStop. More...

const HighResAngleField &	position () const
	Position of the module output (post-spring), in radians. More...

const HighResAngleField &	positionCommand () const
	Commanded position of the module output (post-spring), in radians. More...

const EnumField< PositionLimitState > &	positionLimitState () const
	Software-controlled bounds on the allowable position of the module; user settable. More...

const FloatField &	pwmCommand () const
	Commanded PWM signal sent to the motor; final output of PID controllers. More...

const UInt64Field &	sequenceNumber () const
	Sequence number going to module (local) More...

const EnumField< TemperatureState > &	temperatureState () const
	Describes how the temperature inside the module is limiting the output of the motor. More...

const FloatField &	velocity () const
	Velocity of the module output (post-spring), in radians/second. More...

const FloatField &	velocityCommand () const
	Commanded velocity of the module output (post-spring), in radians/second. More...

const EnumField< VelocityLimitState > &	velocityLimitState () const
	Software-controlled bounds on the allowable velocity of the module. More...

Private Attributes
EnumField< CommandLifetimeState >	command_lifetime_state_

FloatField	deflection_

FloatField	deflection_velocity_

FloatField	effort_

FloatField	effort_command_

EnumField< EffortLimitState >	effort_limit_state_

FloatField	motor_current_

FloatField	motor_housing_temperature_

HighResAngleField	motor_position_

FloatField	motor_sensor_temperature_

FloatField	motor_velocity_

FloatField	motor_winding_current_

FloatField	motor_winding_temperature_

EnumField< MstopState >	mstop_state_

HighResAngleField	position_

HighResAngleField	position_command_

EnumField< PositionLimitState >	position_limit_state_

FloatField	pwm_command_

UInt64Field	sequence_number_

EnumField< TemperatureState >	temperature_state_

FloatField	velocity_

FloatField	velocity_command_

EnumField< VelocityLimitState >	velocity_limit_state_

Detailed Description

Actuator-specific feedback.

Definition at line 484 of file feedback.hpp.

Constructor & Destructor Documentation

hebi::Feedback::Actuator::Actuator ( const HebiFeedbackRef & internal )

inline

Definition at line 487 of file feedback.hpp.

Member Function Documentation

const EnumField<CommandLifetimeState>& hebi::Feedback::Actuator::commandLifetimeState ( ) const

inline

The state of the command lifetime safety controller, with respect to the current group.

Definition at line 563 of file feedback.hpp.

const FloatField& hebi::Feedback::Actuator::deflection ( ) const

inline

Difference (in radians) between the pre-spring and post-spring output position.

Definition at line 527 of file feedback.hpp.

const FloatField& hebi::Feedback::Actuator::deflectionVelocity ( ) const

inline

Velocity (in radians/second) of the difference between the pre-spring and post-spring output position.

Definition at line 529 of file feedback.hpp.

const FloatField& hebi::Feedback::Actuator::effort ( ) const

inline

Effort at the module output; units vary (e.g., N * m for rotational joints and N for linear stages).

Definition at line 521 of file feedback.hpp.

const FloatField& hebi::Feedback::Actuator::effortCommand ( ) const

inline

Commanded effort at the module output; units vary (e.g., N * m for rotational joints and N for linear stages).

Definition at line 525 of file feedback.hpp.

const EnumField<EffortLimitState>& hebi::Feedback::Actuator::effortLimitState ( ) const

inline

Software-controlled bounds on the allowable effort of the module.

Definition at line 561 of file feedback.hpp.

const FloatField& hebi::Feedback::Actuator::motorCurrent ( ) const

inline

Current supplied to the motor.

Definition at line 533 of file feedback.hpp.

const FloatField& hebi::Feedback::Actuator::motorHousingTemperature ( ) const

inline

The estimated temperature of the motor housing.

Definition at line 541 of file feedback.hpp.

const HighResAngleField& hebi::Feedback::Actuator::motorPosition ( ) const

inline

The position of an actuator’s internal motor before the gear reduction, in radians.

Definition at line 549 of file feedback.hpp.

const FloatField& hebi::Feedback::Actuator::motorSensorTemperature ( ) const

inline

The temperature from a sensor near the motor housing.

Definition at line 535 of file feedback.hpp.

const FloatField& hebi::Feedback::Actuator::motorVelocity ( ) const

inline

The velocity (in radians/second) of the motor shaft.

Definition at line 531 of file feedback.hpp.

const FloatField& hebi::Feedback::Actuator::motorWindingCurrent ( ) const

inline

The estimated current in the motor windings.

Definition at line 537 of file feedback.hpp.

const FloatField& hebi::Feedback::Actuator::motorWindingTemperature ( ) const

inline

The estimated temperature of the motor windings.

Definition at line 539 of file feedback.hpp.

const EnumField<MstopState>& hebi::Feedback::Actuator::mstopState ( ) const

inline

Current status of the MStop.

Definition at line 555 of file feedback.hpp.

const HighResAngleField& hebi::Feedback::Actuator::position ( ) const

inline

Position of the module output (post-spring), in radians.

Definition at line 545 of file feedback.hpp.

const HighResAngleField& hebi::Feedback::Actuator::positionCommand ( ) const

inline

Commanded position of the module output (post-spring), in radians.

Definition at line 547 of file feedback.hpp.

const EnumField<PositionLimitState>& hebi::Feedback::Actuator::positionLimitState ( ) const

inline

Software-controlled bounds on the allowable position of the module; user settable.

Definition at line 557 of file feedback.hpp.

const FloatField& hebi::Feedback::Actuator::pwmCommand ( ) const

inline

Commanded PWM signal sent to the motor; final output of PID controllers.

Definition at line 543 of file feedback.hpp.

const UInt64Field& hebi::Feedback::Actuator::sequenceNumber ( ) const

inline

Sequence number going to module (local)

Definition at line 551 of file feedback.hpp.

const EnumField<TemperatureState>& hebi::Feedback::Actuator::temperatureState ( ) const

inline

Describes how the temperature inside the module is limiting the output of the motor.

Definition at line 553 of file feedback.hpp.

const FloatField& hebi::Feedback::Actuator::velocity ( ) const

inline

Velocity of the module output (post-spring), in radians/second.

Definition at line 519 of file feedback.hpp.

const FloatField& hebi::Feedback::Actuator::velocityCommand ( ) const

inline

Commanded velocity of the module output (post-spring), in radians/second.

Definition at line 523 of file feedback.hpp.

const EnumField<VelocityLimitState>& hebi::Feedback::Actuator::velocityLimitState ( ) const

inline

Software-controlled bounds on the allowable velocity of the module.

Definition at line 559 of file feedback.hpp.

Member Data Documentation

EnumField<CommandLifetimeState> hebi::Feedback::Actuator::command_lifetime_state_

private

Definition at line 589 of file feedback.hpp.

FloatField hebi::Feedback::Actuator::deflection_

private

Definition at line 571 of file feedback.hpp.

FloatField hebi::Feedback::Actuator::deflection_velocity_

private

Definition at line 572 of file feedback.hpp.

FloatField hebi::Feedback::Actuator::effort_

private

Definition at line 568 of file feedback.hpp.

FloatField hebi::Feedback::Actuator::effort_command_

private

Definition at line 570 of file feedback.hpp.

EnumField<EffortLimitState> hebi::Feedback::Actuator::effort_limit_state_

private

Definition at line 588 of file feedback.hpp.

FloatField hebi::Feedback::Actuator::motor_current_

private

Definition at line 574 of file feedback.hpp.

FloatField hebi::Feedback::Actuator::motor_housing_temperature_

private

Definition at line 578 of file feedback.hpp.

HighResAngleField hebi::Feedback::Actuator::motor_position_

private

Definition at line 582 of file feedback.hpp.

FloatField hebi::Feedback::Actuator::motor_sensor_temperature_

private

Definition at line 575 of file feedback.hpp.

FloatField hebi::Feedback::Actuator::motor_velocity_

private

Definition at line 573 of file feedback.hpp.

FloatField hebi::Feedback::Actuator::motor_winding_current_

private

Definition at line 576 of file feedback.hpp.

FloatField hebi::Feedback::Actuator::motor_winding_temperature_

private

Definition at line 577 of file feedback.hpp.

EnumField<MstopState> hebi::Feedback::Actuator::mstop_state_

private

Definition at line 585 of file feedback.hpp.

HighResAngleField hebi::Feedback::Actuator::position_

private

Definition at line 580 of file feedback.hpp.

HighResAngleField hebi::Feedback::Actuator::position_command_

private

Definition at line 581 of file feedback.hpp.

EnumField<PositionLimitState> hebi::Feedback::Actuator::position_limit_state_

private

Definition at line 586 of file feedback.hpp.

FloatField hebi::Feedback::Actuator::pwm_command_

private

Definition at line 579 of file feedback.hpp.

UInt64Field hebi::Feedback::Actuator::sequence_number_

private

Definition at line 583 of file feedback.hpp.

EnumField<TemperatureState> hebi::Feedback::Actuator::temperature_state_

private

Definition at line 584 of file feedback.hpp.

FloatField hebi::Feedback::Actuator::velocity_

private

Definition at line 567 of file feedback.hpp.

FloatField hebi::Feedback::Actuator::velocity_command_

private

Definition at line 569 of file feedback.hpp.

EnumField<VelocityLimitState> hebi::Feedback::Actuator::velocity_limit_state_

private

Definition at line 587 of file feedback.hpp.

The documentation for this class was generated from the following file:

feedback.hpp

Public Member Functions

Private Attributes

Detailed Description

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation