Class SetTorqueRequest

Defined in File requests.hpp

Inheritance Relationships

Base Type

public myactuator_rmd::SingleMotorRequest< CommandType::TORQUE_CLOSED_LOOP_CONTROL > (Template Class SingleMotorRequest)

Class Documentation

class SetTorqueRequest : public myactuator_rmd::SingleMotorRequest<CommandType::TORQUE_CLOSED_LOOP_CONTROL>

Request for setting the torque of the actuator by setting a target current.

Public Functions

SetTorqueRequest(float const current)

SetTorqueRequest() = delete

Class constructor.

Parameters:: current – [in] The current set-point in Ampere [-20.00, 20.00]

SetTorqueRequest(SetTorqueRequest const&) = default

SetTorqueRequest &operator=(SetTorqueRequest const&) = default

SetTorqueRequest(SetTorqueRequest&&) = default

SetTorqueRequest &operator=(SetTorqueRequest&&) = default

float getTorqueCurrent() const noexcept

Get the torque current.

Returns:: The torque current in Ampere [-20.00, 20.00]

constexpr SingleMotorRequest(std::array<std::uint8_t, 8> const &data)

constexpr SingleMotorRequest() = default

SingleMotorRequest(SingleMotorRequest const&) = default

SingleMotorRequest(SingleMotorRequest&&) = default