#include <command.h>

Public Attributes
int	before_freeze

SpurRunMode	before_run_mode

double	control_dt

double	dir

double	dv

double	dw

int	freeze

double	grav_torque [YP_PARAM_MAX_MOTOR_NUM]

pthread_mutex_t	mutex

double	radius

SpurRunMode	run_mode

int	run_mode_cnt

double	theta

double	tilt

double	torque [YP_PARAM_MAX_MOTOR_NUM]

double	torque_prev [YP_PARAM_MAX_MOTOR_NUM]

double	v

double	vref

double	vref_smooth

double	w

double	wheel_accel [YP_PARAM_MAX_MOTOR_NUM]

double	wheel_angle [YP_PARAM_MAX_MOTOR_NUM]

MotorControlMode	wheel_mode [YP_PARAM_MAX_MOTOR_NUM]

MotorControlMode	wheel_mode_prev [YP_PARAM_MAX_MOTOR_NUM]

double	wheel_vel [YP_PARAM_MAX_MOTOR_NUM]

double	wheel_vel_end [YP_PARAM_MAX_MOTOR_NUM]

double	wheel_vel_smooth [YP_PARAM_MAX_MOTOR_NUM]

double	wref

double	wref_smooth

double	wvelref [YP_PARAM_MAX_MOTOR_NUM]

double	x

double	y

Detailed Description

Definition at line 55 of file command.h.

Member Data Documentation

int _spur_user_params::before_freeze

Definition at line 84 of file command.h.

SpurRunMode _spur_user_params::before_run_mode

Definition at line 87 of file command.h.

double _spur_user_params::control_dt

Definition at line 82 of file command.h.

double _spur_user_params::dir

Definition at line 81 of file command.h.

double _spur_user_params::dv

Definition at line 57 of file command.h.

double _spur_user_params::dw

Definition at line 58 of file command.h.

int _spur_user_params::freeze

Definition at line 83 of file command.h.

double _spur_user_params::grav_torque[YP_PARAM_MAX_MOTOR_NUM]

Definition at line 70 of file command.h.

pthread_mutex_t _spur_user_params::mutex

Definition at line 88 of file command.h.

double _spur_user_params::radius

Definition at line 79 of file command.h.

SpurRunMode _spur_user_params::run_mode

Definition at line 85 of file command.h.

int _spur_user_params::run_mode_cnt

Definition at line 86 of file command.h.

double _spur_user_params::theta

Definition at line 78 of file command.h.

double _spur_user_params::tilt

Definition at line 80 of file command.h.

double _spur_user_params::torque[YP_PARAM_MAX_MOTOR_NUM]

Definition at line 68 of file command.h.

double _spur_user_params::torque_prev[YP_PARAM_MAX_MOTOR_NUM]

Definition at line 69 of file command.h.

double _spur_user_params::v

Definition at line 59 of file command.h.

double _spur_user_params::vref

Definition at line 61 of file command.h.

double _spur_user_params::vref_smooth

Definition at line 63 of file command.h.

double _spur_user_params::w

Definition at line 60 of file command.h.

double _spur_user_params::wheel_accel[YP_PARAM_MAX_MOTOR_NUM]

Definition at line 71 of file command.h.

double _spur_user_params::wheel_angle[YP_PARAM_MAX_MOTOR_NUM]

Definition at line 74 of file command.h.

MotorControlMode _spur_user_params::wheel_mode[YP_PARAM_MAX_MOTOR_NUM]

Definition at line 76 of file command.h.

MotorControlMode _spur_user_params::wheel_mode_prev[YP_PARAM_MAX_MOTOR_NUM]

Definition at line 77 of file command.h.

double _spur_user_params::wheel_vel[YP_PARAM_MAX_MOTOR_NUM]

Definition at line 72 of file command.h.

double _spur_user_params::wheel_vel_end[YP_PARAM_MAX_MOTOR_NUM]

Definition at line 75 of file command.h.

double _spur_user_params::wheel_vel_smooth[YP_PARAM_MAX_MOTOR_NUM]

Definition at line 73 of file command.h.

double _spur_user_params::wref

Definition at line 62 of file command.h.

double _spur_user_params::wref_smooth

Definition at line 64 of file command.h.

double _spur_user_params::wvelref[YP_PARAM_MAX_MOTOR_NUM]

Definition at line 65 of file command.h.

double _spur_user_params::x

Definition at line 66 of file command.h.

double _spur_user_params::y

Definition at line 67 of file command.h.

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

command.h

Public Attributes

Detailed Description

Member Data Documentation