Class Feedback::Actuator
Defined in File feedback.hpp
Nested Relationships
This class is a nested type of Class Feedback.
Class Documentation
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class Actuator
Actuator-specific feedback.
Public Functions
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inline Actuator(const HebiFeedbackRef &internal)
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inline const FloatField &velocity() const
Velocity of the module output (post-spring), in radians/second.
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inline const FloatField &effort() const
Effort at the module output; units vary (e.g., N * m for rotational joints and N for linear stages).
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inline const FloatField &velocityCommand() const
Commanded velocity of the module output (post-spring), in radians/second.
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inline const FloatField &effortCommand() const
Commanded effort at the module output; units vary (e.g., N * m for rotational joints and N for linear stages).
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inline const FloatField &deflection() const
Difference (in radians) between the pre-spring and post-spring output position.
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inline const FloatField &deflectionVelocity() const
Velocity (in radians/second) of the difference between the pre-spring and post-spring output position.
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inline const FloatField &motorVelocity() const
The velocity (in radians/second) of the motor shaft.
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inline const FloatField &motorCurrent() const
Current supplied to the motor.
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inline const FloatField &motorSensorTemperature() const
The temperature from a sensor near the motor housing.
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inline const FloatField &motorWindingCurrent() const
The estimated current in the motor windings.
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inline const FloatField &motorWindingTemperature() const
The estimated temperature of the motor windings.
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inline const FloatField &motorHousingTemperature() const
The estimated temperature of the motor housing.
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inline const FloatField &pwmCommand() const
Commanded PWM signal sent to the motor; final output of PID controllers.
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inline const FloatField &innerEffortCommand() const
In control strategies 2 and 4, this is the torque of force command going to the inner torque PID loop.
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inline const HighResAngleField &position() const
Position of the module output (post-spring), in radians.
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inline const HighResAngleField &positionCommand() const
Commanded position of the module output (post-spring), in radians.
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inline const HighResAngleField &motorPosition() const
The position of an actuator’s internal motor before the gear reduction, in radians.
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inline const EnumField<TemperatureState> &temperatureState() const
Describes how the temperature inside the module is limiting the output of the motor.
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inline const EnumField<MstopState> &mstopState() const
Current status of the MStop.
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inline const EnumField<PositionLimitState> &positionLimitState() const
Software-controlled bounds on the allowable position of the module; user settable.
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inline const EnumField<VelocityLimitState> &velocityLimitState() const
Software-controlled bounds on the allowable velocity of the module.
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inline const EnumField<EffortLimitState> &effortLimitState() const
Software-controlled bounds on the allowable effort of the module.
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inline const EnumField<CommandLifetimeState> &commandLifetimeState() const
The state of the command lifetime safety controller, with respect to the current group.
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inline Actuator(const HebiFeedbackRef &internal)