MotorTorqueController.cpp File Reference

torque controller for single motor More...

#include "MotorTorqueController.h"
#include <iostream>
#include <cmath>
#include <boost/version.hpp>
#include <typeinfo>

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Defines
#define	DEFAULT_MIN_MAX_DQ   0.26
#define	DEFAULT_MIN_MAX_TRANSITION_DQ   (0.17 * m_dt)
#define	MAX_TRANSITION_COUNT   (TRANSITION_TIME/m_dt)
#define	TORQUE_MARGIN   10.0
#define	TRANSITION_TIME   2.0

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Detailed Description

torque controller for single motor

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Definition in file MotorTorqueController.cpp.

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Define Documentation

#define DEFAULT_MIN_MAX_DQ   0.26

Definition at line 24 of file MotorTorqueController.cpp.

#define DEFAULT_MIN_MAX_TRANSITION_DQ   (0.17 * m_dt)

Definition at line 25 of file MotorTorqueController.cpp.

#define MAX_TRANSITION_COUNT   (TRANSITION_TIME/m_dt)

Definition at line 22 of file MotorTorqueController.cpp.

#define TORQUE_MARGIN   10.0

Definition at line 23 of file MotorTorqueController.cpp.

#define TRANSITION_TIME   2.0

Definition at line 21 of file MotorTorqueController.cpp.