MultiLoopController::MultiLoopParams Struct Reference

#include <MultiLoopController.h>

List of all members.

Public Member Functions
	MultiLoopParams ()
Public Attributes
double	bridgeDeadTime
double	bridgeSwitchTime
bool	currentLoopBypass
double	loopRate
double	maxCurrent
double	maxDutyCycle
double	maxPosition
double	maxTension
double	maxVelocity
double	minCurrent
double	minPosition
double	minTension
double	minVelocity
double	motionRatio
double	motorBackEMFConstant
double	motorInductance
double	motorInertia
double	motorPhaseResistance
double	motorTorqueConstant
double	motorViscousDampingCompensation
bool	positionLoopBypass
double	positionLoopKp
double	PWMFreq
double	tensionOffset
bool	torqueLoopBypass
double	torqueLoopKp
bool	velocityLoopBypass
double	velocityLoopIntegratorWindupLimit
double	velocityLoopKi
double	velocityLoopKp

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Detailed Description

Definition at line 19 of file MultiLoopController.h.

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Constructor & Destructor Documentation

MultiLoopController::MultiLoopParams::MultiLoopParams

(

)

[inline]

Definition at line 21 of file MultiLoopController.h.

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Member Data Documentation

double MultiLoopController::MultiLoopParams::bridgeDeadTime

sec

Definition at line 87 of file MultiLoopController.h.

double MultiLoopController::MultiLoopParams::bridgeSwitchTime

sec

Definition at line 88 of file MultiLoopController.h.

bool MultiLoopController::MultiLoopParams::currentLoopBypass

Definition at line 74 of file MultiLoopController.h.

double MultiLoopController::MultiLoopParams::loopRate

Hz

Definition at line 54 of file MultiLoopController.h.

double MultiLoopController::MultiLoopParams::maxCurrent

amps

Definition at line 76 of file MultiLoopController.h.

double MultiLoopController::MultiLoopParams::maxDutyCycle

dutycycle

Definition at line 77 of file MultiLoopController.h.

double MultiLoopController::MultiLoopParams::maxPosition

positionUnits

Definition at line 58 of file MultiLoopController.h.

double MultiLoopController::MultiLoopParams::maxTension

tensionUnits

Definition at line 63 of file MultiLoopController.h.

double MultiLoopController::MultiLoopParams::maxVelocity

positionUnits/sec

Definition at line 69 of file MultiLoopController.h.

double MultiLoopController::MultiLoopParams::minCurrent

amps

Definition at line 75 of file MultiLoopController.h.

double MultiLoopController::MultiLoopParams::minPosition

positionUnits

Definition at line 57 of file MultiLoopController.h.

double MultiLoopController::MultiLoopParams::minTension

always zero

Definition at line 62 of file MultiLoopController.h.

double MultiLoopController::MultiLoopParams::minVelocity

positionUnits/sec

Definition at line 68 of file MultiLoopController.h.

double MultiLoopController::MultiLoopParams::motionRatio

positionUnits/radian

Definition at line 85 of file MultiLoopController.h.

double MultiLoopController::MultiLoopParams::motorBackEMFConstant

volts/(radian/sec)

Definition at line 83 of file MultiLoopController.h.

double MultiLoopController::MultiLoopParams::motorInductance

Henrys

Definition at line 84 of file MultiLoopController.h.

double MultiLoopController::MultiLoopParams::motorInertia

Kg*m^2

Definition at line 80 of file MultiLoopController.h.

double MultiLoopController::MultiLoopParams::motorPhaseResistance

ohms

Definition at line 82 of file MultiLoopController.h.

double MultiLoopController::MultiLoopParams::motorTorqueConstant

N*m/amp

Definition at line 81 of file MultiLoopController.h.

double MultiLoopController::MultiLoopParams::motorViscousDampingCompensation

N*m/(positionUnit/sec)

Definition at line 79 of file MultiLoopController.h.

bool MultiLoopController::MultiLoopParams::positionLoopBypass

Definition at line 56 of file MultiLoopController.h.

double MultiLoopController::MultiLoopParams::positionLoopKp

(positionUnits/sec)/positionUnit

Definition at line 59 of file MultiLoopController.h.

double MultiLoopController::MultiLoopParams::PWMFreq

Hz

Definition at line 86 of file MultiLoopController.h.

double MultiLoopController::MultiLoopParams::tensionOffset

tensionUnits

Definition at line 65 of file MultiLoopController.h.

bool MultiLoopController::MultiLoopParams::torqueLoopBypass

Definition at line 61 of file MultiLoopController.h.

double MultiLoopController::MultiLoopParams::torqueLoopKp

1/tensionUnits

Definition at line 64 of file MultiLoopController.h.

bool MultiLoopController::MultiLoopParams::velocityLoopBypass

Definition at line 67 of file MultiLoopController.h.

double MultiLoopController::MultiLoopParams::velocityLoopIntegratorWindupLimit

amps

Definition at line 72 of file MultiLoopController.h.

double MultiLoopController::MultiLoopParams::velocityLoopKi

amp/positionUnit

Definition at line 71 of file MultiLoopController.h.

double MultiLoopController::MultiLoopParams::velocityLoopKp

amps/(positionUnits/sec)

Definition at line 70 of file MultiLoopController.h.

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The documentation for this struct was generated from the following file:

• MultiLoopController.h