hebi::Command::Settings::Actuator Class Reference

Actuator-specific settings, such as controller gains. More...

#include <command.hpp>

Public Member Functions
	Actuator (HebiCommandRef &internal)
EnumField< ControlStrategy > &	controlStrategy ()
	How the position, velocity, and effort PID loops are connected in order to control motor PWM. More...
const EnumField< ControlStrategy > &	controlStrategy () const
	How the position, velocity, and effort PID loops are connected in order to control motor PWM. More...
CommandGains &	effortGains ()
	Controller gains for the effort PID loop. More...
const CommandGains &	effortGains () const
	Controller gains for the effort PID loop. More...
FloatField &	effortLimitMax ()
	The firmware safety limit for the maximum allowed effort. More...
const FloatField &	effortLimitMax () const
	The firmware safety limit for the maximum allowed effort. More...
FloatField &	effortLimitMin ()
	The firmware safety limit for the minimum allowed effort. More...
const FloatField &	effortLimitMin () const
	The firmware safety limit for the minimum allowed effort. More...
EnumField< PositionLimitStrategy > &	maxPositionLimitStrategy ()
	The position limit strategy (at the maximum position) for the actuator. More...
const EnumField< PositionLimitStrategy > &	maxPositionLimitStrategy () const
	The position limit strategy (at the maximum position) for the actuator. More...
EnumField< PositionLimitStrategy > &	minPositionLimitStrategy ()
	The position limit strategy (at the minimum position) for the actuator. More...
const EnumField< PositionLimitStrategy > &	minPositionLimitStrategy () const
	The position limit strategy (at the minimum position) for the actuator. More...
EnumField< MstopStrategy > &	mstopStrategy ()
	The motion stop strategy for the actuator. More...
const EnumField< MstopStrategy > &	mstopStrategy () const
	The motion stop strategy for the actuator. More...
CommandGains &	positionGains ()
	Controller gains for the position PID loop. More...
const CommandGains &	positionGains () const
	Controller gains for the position PID loop. More...
HighResAngleField &	positionLimitMax ()
	The firmware safety limit for the maximum allowed position. More...
const HighResAngleField &	positionLimitMax () const
	The firmware safety limit for the maximum allowed position. More...
HighResAngleField &	positionLimitMin ()
	The firmware safety limit for the minimum allowed position. More...
const HighResAngleField &	positionLimitMin () const
	The firmware safety limit for the minimum allowed position. More...
FloatField &	referenceEffort ()
	The internal effort reference offset (setting this matches the current effort to the given reference command) More...
const FloatField &	referenceEffort () const
	The internal effort reference offset (setting this matches the current effort to the given reference command) More...
FloatField &	referencePosition ()
const FloatField &	referencePosition () const
FloatField &	springConstant ()
	The spring constant of the module. More...
const FloatField &	springConstant () const
	The spring constant of the module. More...
CommandGains &	velocityGains ()
	Controller gains for the velocity PID loop. More...
const CommandGains &	velocityGains () const
	Controller gains for the velocity PID loop. More...
FloatField &	velocityLimitMax ()
	The firmware safety limit for the maximum allowed velocity. More...
const FloatField &	velocityLimitMax () const
	The firmware safety limit for the maximum allowed velocity. More...
FloatField &	velocityLimitMin ()
	The firmware safety limit for the minimum allowed velocity. More...
const FloatField &	velocityLimitMin () const
	The firmware safety limit for the minimum allowed velocity. More...

Private Attributes
EnumField< ControlStrategy >	control_strategy_
CommandGains	effort_gains_
FloatField	effort_limit_max_
FloatField	effort_limit_min_
EnumField< PositionLimitStrategy >	max_position_limit_strategy_
EnumField< PositionLimitStrategy >	min_position_limit_strategy_
EnumField< MstopStrategy >	mstop_strategy_
CommandGains	position_gains_
HighResAngleField	position_limit_max_
HighResAngleField	position_limit_min_
FloatField	reference_effort_
FloatField	reference_position_
FloatField	spring_constant_
CommandGains	velocity_gains_
FloatField	velocity_limit_max_
FloatField	velocity_limit_min_

Detailed Description

Actuator-specific settings, such as controller gains.

Definition at line 501 of file command.hpp.

Constructor & Destructor Documentation

hebi::Command::Settings::Actuator::Actuator ( HebiCommandRef &  internal )

inline

Definition at line 504 of file command.hpp.

Member Function Documentation

EnumField<ControlStrategy>& hebi::Command::Settings::Actuator::controlStrategy ( )

inline

How the position, velocity, and effort PID loops are connected in order to control motor PWM.

Definition at line 582 of file command.hpp.

const EnumField<ControlStrategy>& hebi::Command::Settings::Actuator::controlStrategy ( ) const

inline

How the position, velocity, and effort PID loops are connected in order to control motor PWM.

Definition at line 584 of file command.hpp.

CommandGains& hebi::Command::Settings::Actuator::effortGains ( )

inline

Controller gains for the effort PID loop.

Definition at line 537 of file command.hpp.

const CommandGains& hebi::Command::Settings::Actuator::effortGains ( ) const

inline

Controller gains for the effort PID loop.

Definition at line 539 of file command.hpp.

FloatField& hebi::Command::Settings::Actuator::effortLimitMax ( )

inline

The firmware safety limit for the maximum allowed effort.

Definition at line 570 of file command.hpp.

const FloatField& hebi::Command::Settings::Actuator::effortLimitMax ( ) const

inline

The firmware safety limit for the maximum allowed effort.

Definition at line 572 of file command.hpp.

FloatField& hebi::Command::Settings::Actuator::effortLimitMin ( )

inline

The firmware safety limit for the minimum allowed effort.

Definition at line 566 of file command.hpp.

const FloatField& hebi::Command::Settings::Actuator::effortLimitMin ( ) const

inline

The firmware safety limit for the minimum allowed effort.

Definition at line 568 of file command.hpp.

EnumField<PositionLimitStrategy>& hebi::Command::Settings::Actuator::maxPositionLimitStrategy ( )

inline

The position limit strategy (at the maximum position) for the actuator.

Definition at line 594 of file command.hpp.

const EnumField<PositionLimitStrategy>& hebi::Command::Settings::Actuator::maxPositionLimitStrategy ( ) const

inline

The position limit strategy (at the maximum position) for the actuator.

Definition at line 596 of file command.hpp.

EnumField<PositionLimitStrategy>& hebi::Command::Settings::Actuator::minPositionLimitStrategy ( )

inline

The position limit strategy (at the minimum position) for the actuator.

Definition at line 590 of file command.hpp.

const EnumField<PositionLimitStrategy>& hebi::Command::Settings::Actuator::minPositionLimitStrategy ( ) const

inline

The position limit strategy (at the minimum position) for the actuator.

Definition at line 592 of file command.hpp.

EnumField<MstopStrategy>& hebi::Command::Settings::Actuator::mstopStrategy ( )

inline

The motion stop strategy for the actuator.

Definition at line 586 of file command.hpp.

const EnumField<MstopStrategy>& hebi::Command::Settings::Actuator::mstopStrategy ( ) const

inline

The motion stop strategy for the actuator.

Definition at line 588 of file command.hpp.

CommandGains& hebi::Command::Settings::Actuator::positionGains ( )

inline

Controller gains for the position PID loop.

Definition at line 529 of file command.hpp.

const CommandGains& hebi::Command::Settings::Actuator::positionGains ( ) const

inline

Controller gains for the position PID loop.

Definition at line 531 of file command.hpp.

HighResAngleField& hebi::Command::Settings::Actuator::positionLimitMax ( )

inline

The firmware safety limit for the maximum allowed position.

Definition at line 578 of file command.hpp.

const HighResAngleField& hebi::Command::Settings::Actuator::positionLimitMax ( ) const

inline

The firmware safety limit for the maximum allowed position.

Definition at line 580 of file command.hpp.

HighResAngleField& hebi::Command::Settings::Actuator::positionLimitMin ( )

inline

The firmware safety limit for the minimum allowed position.

Definition at line 574 of file command.hpp.

const HighResAngleField& hebi::Command::Settings::Actuator::positionLimitMin ( ) const

inline

The firmware safety limit for the minimum allowed position.

Definition at line 576 of file command.hpp.

FloatField& hebi::Command::Settings::Actuator::referenceEffort ( )

inline

The internal effort reference offset (setting this matches the current effort to the given reference command)

Definition at line 554 of file command.hpp.

const FloatField& hebi::Command::Settings::Actuator::referenceEffort ( ) const

inline

The internal effort reference offset (setting this matches the current effort to the given reference command)

Definition at line 556 of file command.hpp.

FloatField& hebi::Command::Settings::Actuator::referencePosition ( )

inline

The internal encoder reference offset (setting this matches the current position to the given reference command)

Definition at line 549 of file command.hpp.

const FloatField& hebi::Command::Settings::Actuator::referencePosition ( ) const

inline

The internal encoder reference offset (setting this matches the current position to the given reference command)

Definition at line 552 of file command.hpp.

FloatField& hebi::Command::Settings::Actuator::springConstant ( )

inline

The spring constant of the module.

Definition at line 544 of file command.hpp.

const FloatField& hebi::Command::Settings::Actuator::springConstant ( ) const

inline

The spring constant of the module.

Definition at line 546 of file command.hpp.

CommandGains& hebi::Command::Settings::Actuator::velocityGains ( )

inline

Controller gains for the velocity PID loop.

Definition at line 533 of file command.hpp.

const CommandGains& hebi::Command::Settings::Actuator::velocityGains ( ) const

inline

Controller gains for the velocity PID loop.

Definition at line 535 of file command.hpp.

FloatField& hebi::Command::Settings::Actuator::velocityLimitMax ( )

inline

The firmware safety limit for the maximum allowed velocity.

Definition at line 562 of file command.hpp.

const FloatField& hebi::Command::Settings::Actuator::velocityLimitMax ( ) const

inline

The firmware safety limit for the maximum allowed velocity.

Definition at line 564 of file command.hpp.

FloatField& hebi::Command::Settings::Actuator::velocityLimitMin ( )

inline

The firmware safety limit for the minimum allowed velocity.

Definition at line 558 of file command.hpp.

const FloatField& hebi::Command::Settings::Actuator::velocityLimitMin ( ) const

inline

The firmware safety limit for the minimum allowed velocity.

Definition at line 560 of file command.hpp.

Member Data Documentation

EnumField<ControlStrategy> hebi::Command::Settings::Actuator::control_strategy_

private

Definition at line 613 of file command.hpp.

CommandGains hebi::Command::Settings::Actuator::effort_gains_

private

Definition at line 602 of file command.hpp.

FloatField hebi::Command::Settings::Actuator::effort_limit_max_

private

Definition at line 610 of file command.hpp.

FloatField hebi::Command::Settings::Actuator::effort_limit_min_

private

Definition at line 609 of file command.hpp.

EnumField<PositionLimitStrategy> hebi::Command::Settings::Actuator::max_position_limit_strategy_

private

Definition at line 616 of file command.hpp.

EnumField<PositionLimitStrategy> hebi::Command::Settings::Actuator::min_position_limit_strategy_

private

Definition at line 615 of file command.hpp.

EnumField<MstopStrategy> hebi::Command::Settings::Actuator::mstop_strategy_

private

Definition at line 614 of file command.hpp.

CommandGains hebi::Command::Settings::Actuator::position_gains_

private

Definition at line 600 of file command.hpp.

HighResAngleField hebi::Command::Settings::Actuator::position_limit_max_

private

Definition at line 612 of file command.hpp.

HighResAngleField hebi::Command::Settings::Actuator::position_limit_min_

private

Definition at line 611 of file command.hpp.

FloatField hebi::Command::Settings::Actuator::reference_effort_

private

Definition at line 606 of file command.hpp.

FloatField hebi::Command::Settings::Actuator::reference_position_

private

Definition at line 605 of file command.hpp.

FloatField hebi::Command::Settings::Actuator::spring_constant_

private

Definition at line 604 of file command.hpp.

CommandGains hebi::Command::Settings::Actuator::velocity_gains_

private

Definition at line 601 of file command.hpp.

FloatField hebi::Command::Settings::Actuator::velocity_limit_max_

private

Definition at line 608 of file command.hpp.

FloatField hebi::Command::Settings::Actuator::velocity_limit_min_

private

Definition at line 607 of file command.hpp.

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

• command.hpp