Go to the source code of this file.
|
| enum | {
SERVO_LEVEL_STOP = 0,
SERVO_LEVEL_COUNTER,
SERVO_LEVEL_TORQUE,
SERVO_LEVEL_VELOCITY,
SERVO_LEVEL_POSITION,
SERVO_LEVEL_OPENFREE
} |
| |
| enum | YPSpur_shvel_error_state {
ERROR_NONE = 0,
ERROR_LOW_VOLTAGE = 0x0001,
ERROR_HALL_SEQ = 0x0002,
ERROR_HALL_ENC = 0x0004,
ERROR_WATCHDOG = 0x0008
} |
| |
| enum | YPSpur_shvel_interrupt { INT_enc_index_rise = 0,
INT_enc_index_fall,
INT_error_state
} |
| |
| enum | YPSpur_shvel_param {
PARAM_w_ref = 0,
PARAM_w_ref_highprec,
PARAM_p_ki,
PARAM_p_kv,
PARAM_p_fr_plus,
PARAM_p_fr_wplus,
PARAM_p_fr_minus,
PARAM_p_fr_wminus,
PARAM_p_A,
PARAM_p_B,
PARAM_p_C,
PARAM_p_D,
PARAM_p_E,
PARAM_p_F,
PARAM_p_pi_kp,
PARAM_p_pi_ki,
PARAM_pwm_max,
PARAM_pwm_min,
PARAM_toq_max,
PARAM_toq_min,
PARAM_int_max,
PARAM_int_min,
PARAM_p_toq_offset,
PARAM_toq_limit,
PARAM_enc_rev,
PARAM_motor_phase,
PARAM_vsrc,
PARAM_p_inertia_self,
PARAM_p_inertia_cross,
PARAM_enc_type,
PARAM_control_cycle,
PARAM_enc_div,
PARAM_enc_denominator,
PARAM_servo = 64,
PARAM_watch_dog_limit,
PARAM_heartbeat,
PARAM_io_dir = 96,
PARAM_io_data,
PARAM_ad_mask,
PARAM_phase_offset,
PARAM_protocol_version
} |
| |
| Enumerator |
|---|
| SERVO_LEVEL_STOP |
|
| SERVO_LEVEL_COUNTER |
|
| SERVO_LEVEL_TORQUE |
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| SERVO_LEVEL_VELOCITY |
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| SERVO_LEVEL_POSITION |
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| SERVO_LEVEL_OPENFREE |
|
Definition at line 37 of file shvel-param.h.
| Enumerator |
|---|
| ERROR_NONE |
|
| ERROR_LOW_VOLTAGE |
|
| ERROR_HALL_SEQ |
|
| ERROR_HALL_ENC |
|
| ERROR_WATCHDOG |
|
Definition at line 99 of file shvel-param.h.
| Enumerator |
|---|
| INT_enc_index_rise |
|
| INT_enc_index_fall |
|
| INT_error_state |
|
Definition at line 92 of file shvel-param.h.
| Enumerator |
|---|
| PARAM_w_ref |
|
| PARAM_w_ref_highprec |
|
| PARAM_p_ki |
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| PARAM_p_kv |
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| PARAM_p_fr_plus |
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| PARAM_p_fr_wplus |
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| PARAM_p_fr_minus |
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| PARAM_p_fr_wminus |
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| PARAM_p_A |
|
| PARAM_p_B |
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| PARAM_p_C |
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| PARAM_p_D |
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| PARAM_p_E |
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| PARAM_p_F |
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| PARAM_p_pi_kp |
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| PARAM_p_pi_ki |
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| PARAM_pwm_max |
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| PARAM_pwm_min |
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| PARAM_toq_max |
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| PARAM_toq_min |
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| PARAM_int_max |
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| PARAM_int_min |
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| PARAM_p_toq_offset |
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| PARAM_toq_limit |
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| PARAM_enc_rev |
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| PARAM_motor_phase |
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| PARAM_vsrc |
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| PARAM_p_inertia_self |
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| PARAM_p_inertia_cross |
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| PARAM_enc_type |
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| PARAM_control_cycle |
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| PARAM_enc_div |
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| PARAM_enc_denominator |
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| PARAM_servo |
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| PARAM_watch_dog_limit |
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| PARAM_heartbeat |
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| PARAM_io_dir |
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| PARAM_io_data |
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| PARAM_ad_mask |
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| PARAM_phase_offset |
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| PARAM_protocol_version |
|
Definition at line 47 of file shvel-param.h.
