#include <DriveParam.h>
Public Member Functions | |
void | calcRadToIncr () |
double | convIncrPerPeriodToRadS (int iVelMotIncrPeriod) |
Conversions of encoder increments per measurment period to gear velocity in rad/s. | |
double | convIncrToRad (int iPosIncr) |
Conversions of encoder increments to wheel angle in radians. | |
void | convRadSToIncrPerPeriod (double dPosRad, double dVelRadS, int *piPosIncr, int *piVelIncrPeriod) |
double | convRadSToIncrPerPeriod (double dVelWheelRadS) |
Conversions of gear velocity in rad/s to encoder increments per measurement period. | |
double | convRadToIncr (double dPosWheelRad) |
Conversions of wheel angle in radians to encoder increments. | |
DriveParam () | |
Public Attributes | |
double | dAccIncrS2 |
double | dBeltRatio |
double | dDecIncrS2 |
double | dGearRatio |
double | dModulo |
double | dRadToIncr |
double | dVelMaxEncIncrS |
double | dVelMeasFrqHz |
double | dVelPModeEncIncrS |
int | iEncIncrPerRevMot |
int | ihoming_active |
int | imotor_active |
int | iSign |
Parameters and conversion functionality of a motor drive.
Definition at line 46 of file DriveParam.h.
DriveParam::DriveParam | ( | ) | [inline] |
Definition at line 49 of file DriveParam.h.
void DriveParam::calcRadToIncr | ( | ) | [inline] |
Definition at line 79 of file DriveParam.h.
double DriveParam::convIncrPerPeriodToRadS | ( | int | iVelMotIncrPeriod | ) | [inline] |
Conversions of encoder increments per measurment period to gear velocity in rad/s.
Definition at line 116 of file DriveParam.h.
double DriveParam::convIncrToRad | ( | int | iPosIncr | ) | [inline] |
Conversions of encoder increments to wheel angle in radians.
Definition at line 104 of file DriveParam.h.
void DriveParam::convRadSToIncrPerPeriod | ( | double | dPosRad, |
double | dVelRadS, | ||
int * | piPosIncr, | ||
int * | piVelIncrPeriod | ||
) | [inline] |
Converts position and velocity.
dPosRad | position in radians |
dVelRadS | velocity in radians per seconds |
piPosIncr | converted position in increments |
piVelIncrPeriod | converted velocity in increments per period |
Definition at line 91 of file DriveParam.h.
double DriveParam::convRadSToIncrPerPeriod | ( | double | dVelWheelRadS | ) | [inline] |
Conversions of gear velocity in rad/s to encoder increments per measurement period.
Definition at line 110 of file DriveParam.h.
double DriveParam::convRadToIncr | ( | double | dPosWheelRad | ) | [inline] |
Conversions of wheel angle in radians to encoder increments.
Definition at line 98 of file DriveParam.h.
double DriveParam::dAccIncrS2 |
Definition at line 74 of file DriveParam.h.
double DriveParam::dBeltRatio |
Definition at line 70 of file DriveParam.h.
double DriveParam::dDecIncrS2 |
Definition at line 75 of file DriveParam.h.
double DriveParam::dGearRatio |
Definition at line 69 of file DriveParam.h.
double DriveParam::dModulo |
Definition at line 76 of file DriveParam.h.
double DriveParam::dRadToIncr |
Definition at line 77 of file DriveParam.h.
double DriveParam::dVelMaxEncIncrS |
Definition at line 72 of file DriveParam.h.
double DriveParam::dVelMeasFrqHz |
Definition at line 68 of file DriveParam.h.
Definition at line 73 of file DriveParam.h.
Definition at line 67 of file DriveParam.h.
Definition at line 66 of file DriveParam.h.
Definition at line 65 of file DriveParam.h.
Definition at line 71 of file DriveParam.h.