hebi::Info::Settings::Actuator Class Reference

Actuator-specific settings, such as controller gains. More...

#include <info.hpp>

Public Member Functions
	Actuator (HebiInfoPtr internal)
const EnumField< ControlStrategy > &	controlStrategy () const
	How the position, velocity, and effort PID loops are connected in order to control motor PWM. More...
const InfoGains &	effortGains () const
	Controller gains for the effort PID loop. More...
const InfoGains &	positionGains () const
	Controller gains for the position PID loop. More...
const HighResAngleField &	positionLimitMax () const
	The firmware safety limit for the maximum allowed position. More...
const HighResAngleField &	positionLimitMin () const
	The firmware safety limit for the minimum allowed position. More...
const FloatField &	springConstant () const
	The spring constant of the module. More...
const InfoGains &	velocityGains () const
	Controller gains for the velocity PID loop. More...

Private Attributes
EnumField< ControlStrategy >	control_strategy_
InfoGains	effort_gains_
HebiInfoPtr const	internal_
InfoGains	position_gains_
HighResAngleField	position_limit_max_
HighResAngleField	position_limit_min_
FloatField	spring_constant_
InfoGains	velocity_gains_

Detailed Description

Actuator-specific settings, such as controller gains.

Definition at line 301 of file info.hpp.

Constructor & Destructor Documentation

hebi::Info::Settings::Actuator::Actuator ( HebiInfoPtr  internal )

inline

Definition at line 305 of file info.hpp.

Member Function Documentation

const EnumField<ControlStrategy>& hebi::Info::Settings::Actuator::controlStrategy ( ) const

inline

How the position, velocity, and effort PID loops are connected in order to control motor PWM.

Definition at line 339 of file info.hpp.

const InfoGains& hebi::Info::Settings::Actuator::effortGains ( ) const

inline

Controller gains for the effort PID loop.

Definition at line 328 of file info.hpp.

const InfoGains& hebi::Info::Settings::Actuator::positionGains ( ) const

inline

Controller gains for the position PID loop.

Definition at line 324 of file info.hpp.

const HighResAngleField& hebi::Info::Settings::Actuator::positionLimitMax ( ) const

inline

The firmware safety limit for the maximum allowed position.

Definition at line 337 of file info.hpp.

const HighResAngleField& hebi::Info::Settings::Actuator::positionLimitMin ( ) const

inline

The firmware safety limit for the minimum allowed position.

Definition at line 335 of file info.hpp.

const FloatField& hebi::Info::Settings::Actuator::springConstant ( ) const

inline

The spring constant of the module.

Definition at line 333 of file info.hpp.

const InfoGains& hebi::Info::Settings::Actuator::velocityGains ( ) const

inline

Controller gains for the velocity PID loop.

Definition at line 326 of file info.hpp.

Member Data Documentation

EnumField<ControlStrategy> hebi::Info::Settings::Actuator::control_strategy_

private

Definition at line 351 of file info.hpp.

InfoGains hebi::Info::Settings::Actuator::effort_gains_

private

Definition at line 346 of file info.hpp.

HebiInfoPtr const hebi::Info::Settings::Actuator::internal_

private

Definition at line 342 of file info.hpp.

InfoGains hebi::Info::Settings::Actuator::position_gains_

private

Definition at line 344 of file info.hpp.

HighResAngleField hebi::Info::Settings::Actuator::position_limit_max_

private

Definition at line 350 of file info.hpp.

HighResAngleField hebi::Info::Settings::Actuator::position_limit_min_

private

Definition at line 349 of file info.hpp.

FloatField hebi::Info::Settings::Actuator::spring_constant_

private

Definition at line 348 of file info.hpp.

InfoGains hebi::Info::Settings::Actuator::velocity_gains_

private

Definition at line 345 of file info.hpp.

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

• info.hpp