controller Namespace Reference

Enumerations
enum	control_strategies {   control_strategies::CONTROL_STRATEGY_OFF = 0, control_strategies::CONTROL_STRATEGY_DIRECT_PWM = 1, control_strategies::CONTROL_STRATEGY_2 = 2, control_strategies::CONTROL_STRATEGY_3 = 3,   control_strategies::CONTROL_STRATEGY_4 = 4 }

Variables
static constexpr control_strategies	DEFAULT_CONTROL_STRATEGY = control_strategies::CONTROL_STRATEGY_3
static constexpr double	DEFAULT_EFFORT_KD = 0.001
static constexpr double	DEFAULT_EFFORT_KI = 0.0
static constexpr double	DEFAULT_EFFORT_KP = 0.25
static constexpr double	DEFAULT_GEAR_RATIO = 272.22
static constexpr double	DEFAULT_POSITION_KD = 0.0
static constexpr double	DEFAULT_POSITION_KI = 0.0
static constexpr double	DEFAULT_POSITION_KP = 0.5
static constexpr double	DEFAULT_VELOCITY_KD = 0.0
static constexpr double	DEFAULT_VELOCITY_KI = 0.0
static constexpr double	DEFAULT_VELOCITY_KP = 0.05
static constexpr double	GEAR_RATIO_X5_1 = 272.22
static constexpr double	GEAR_RATIO_X5_4 = 762.22
static constexpr double	GEAR_RATIO_X5_9 = 1742.22
static constexpr double	GEAR_RATIO_X8_16 = 1462.222
static constexpr double	GEAR_RATIO_X8_3 = 272.22
static constexpr double	GEAR_RATIO_X8_9 = 762.22
static std::map< std::string, double >	gear_ratios
static constexpr double	LOW_PASS_ALPHA = 0.1
static constexpr double	MAX_PWM = 1.0
static constexpr double	MIN_PWM = -1.0

Enumeration Type Documentation

enum controller::control_strategies

strong

Enumerator
CONTROL_STRATEGY_OFF
CONTROL_STRATEGY_DIRECT_PWM
CONTROL_STRATEGY_2
CONTROL_STRATEGY_3
CONTROL_STRATEGY_4

Definition at line 5 of file hebiros_gazebo_controller.cpp.

Variable Documentation

constexpr control_strategies controller::DEFAULT_CONTROL_STRATEGY = control_strategies::CONTROL_STRATEGY_3

static

Definition at line 13 of file hebiros_gazebo_controller.cpp.

constexpr double controller::DEFAULT_EFFORT_KD = 0.001

static

Definition at line 28 of file hebiros_gazebo_controller.cpp.

constexpr double controller::DEFAULT_EFFORT_KI = 0.0

static

Definition at line 27 of file hebiros_gazebo_controller.cpp.

constexpr double controller::DEFAULT_EFFORT_KP = 0.25

static

Definition at line 26 of file hebiros_gazebo_controller.cpp.

constexpr double controller::DEFAULT_GEAR_RATIO = 272.22

static

Definition at line 37 of file hebiros_gazebo_controller.cpp.

constexpr double controller::DEFAULT_POSITION_KD = 0.0

static

Definition at line 22 of file hebiros_gazebo_controller.cpp.

constexpr double controller::DEFAULT_POSITION_KI = 0.0

static

Definition at line 21 of file hebiros_gazebo_controller.cpp.

constexpr double controller::DEFAULT_POSITION_KP = 0.5

static

Definition at line 20 of file hebiros_gazebo_controller.cpp.

constexpr double controller::DEFAULT_VELOCITY_KD = 0.0

static

Definition at line 25 of file hebiros_gazebo_controller.cpp.

constexpr double controller::DEFAULT_VELOCITY_KI = 0.0

static

Definition at line 24 of file hebiros_gazebo_controller.cpp.

constexpr double controller::DEFAULT_VELOCITY_KP = 0.05

static

Definition at line 23 of file hebiros_gazebo_controller.cpp.

constexpr double controller::GEAR_RATIO_X5_1 = 272.22

static

Definition at line 30 of file hebiros_gazebo_controller.cpp.

constexpr double controller::GEAR_RATIO_X5_4 = 762.22

static

Definition at line 32 of file hebiros_gazebo_controller.cpp.

constexpr double controller::GEAR_RATIO_X5_9 = 1742.22

static

Definition at line 34 of file hebiros_gazebo_controller.cpp.

constexpr double controller::GEAR_RATIO_X8_16 = 1462.222

static

Definition at line 35 of file hebiros_gazebo_controller.cpp.

constexpr double controller::GEAR_RATIO_X8_3 = 272.22

static

Definition at line 31 of file hebiros_gazebo_controller.cpp.

constexpr double controller::GEAR_RATIO_X8_9 = 762.22

static

Definition at line 33 of file hebiros_gazebo_controller.cpp.

std::map<std::string, double> controller::gear_ratios

static

Initial value:

= {
  {"X5_1", GEAR_RATIO_X5_1},
  {"X5_4", GEAR_RATIO_X5_4},
  {"X5_9", GEAR_RATIO_X5_9},
  {"X8_3", GEAR_RATIO_X8_3},
  {"X8_9", GEAR_RATIO_X8_9},
  {"X8_16", GEAR_RATIO_X8_16}}

Definition at line 39 of file hebiros_gazebo_controller.cpp.

constexpr double controller::LOW_PASS_ALPHA = 0.1

static

Definition at line 18 of file hebiros_gazebo_controller.cpp.

constexpr double controller::MAX_PWM = 1.0

static

Definition at line 15 of file hebiros_gazebo_controller.cpp.

constexpr double controller::MIN_PWM = -1.0

static

Definition at line 16 of file hebiros_gazebo_controller.cpp.