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

#include <info.hpp>

Public Member Functions
	Actuator (const HebiInfoRef &internal)

const EnumField< ControlStrategy > &	controlStrategy () const
	How the position, velocity, and effort PID loops are connected in order to control motor PWM. More...

const InfoGains &	effortGains () const
	Controller gains for the effort PID loop. More...

const FloatField &	effortLimitMax () const
	The firmware safety limit for the maximum allowed effort. More...

const FloatField &	effortLimitMin () const
	The firmware safety limit for the minimum allowed effort. More...

const EnumField< PositionLimitStrategy > &	maxPositionLimitStrategy () const
	The position limit strategy (at the maximum position) for the actuator. More...

const EnumField< PositionLimitStrategy > &	minPositionLimitStrategy () const
	The position limit strategy (at the minimum position) for the actuator. More...

const EnumField< MstopStrategy > &	mstopStrategy () const
	The motion stop strategy for the actuator. More...

const InfoGains &	positionGains () const
	Controller gains for the position PID loop. More...

const HighResAngleField &	positionLimitMax () const
	The firmware safety limit for the maximum allowed position. More...

const HighResAngleField &	positionLimitMin () const
	The firmware safety limit for the minimum allowed position. More...

const FloatField &	springConstant () const
	The spring constant of the module. More...

const InfoGains &	velocityGains () const
	Controller gains for the velocity PID loop. More...

const FloatField &	velocityLimitMax () const
	The firmware safety limit for the maximum allowed velocity. More...

const FloatField &	velocityLimitMin () const
	The firmware safety limit for the minimum allowed velocity. More...

Detailed Description

Actuator-specific settings, such as controller gains.

Definition at line 315 of file info.hpp.

Constructor & Destructor Documentation

hebi::Info::Settings::Actuator::Actuator ( const HebiInfoRef & internal )

inline

Definition at line 318 of file info.hpp.

Member Function Documentation

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

inline

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

Definition at line 364 of file info.hpp.

const InfoGains& hebi::Info::Settings::Actuator::effortGains ( ) const

inline

Controller gains for the effort PID loop.

Definition at line 345 of file info.hpp.

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

inline

The firmware safety limit for the maximum allowed effort.

Definition at line 358 of file info.hpp.

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

inline

The firmware safety limit for the minimum allowed effort.

Definition at line 356 of file info.hpp.

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

inline

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

Definition at line 370 of file info.hpp.

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

inline

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

Definition at line 368 of file info.hpp.

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

inline

The motion stop strategy for the actuator.

Definition at line 366 of file info.hpp.

const InfoGains& hebi::Info::Settings::Actuator::positionGains ( ) const

inline

Controller gains for the position PID loop.

Definition at line 341 of file info.hpp.

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

inline

The firmware safety limit for the maximum allowed position.

Definition at line 362 of file info.hpp.

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

inline

The firmware safety limit for the minimum allowed position.

Definition at line 360 of file info.hpp.

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

inline

The spring constant of the module.

Definition at line 350 of file info.hpp.

const InfoGains& hebi::Info::Settings::Actuator::velocityGains ( ) const

inline

Controller gains for the velocity PID loop.

Definition at line 343 of file info.hpp.

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

inline

The firmware safety limit for the maximum allowed velocity.

Definition at line 354 of file info.hpp.

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

inline

The firmware safety limit for the minimum allowed velocity.

Definition at line 352 of file info.hpp.

Member Data Documentation

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

private

Definition at line 385 of file info.hpp.

InfoGains hebi::Info::Settings::Actuator::effort_gains_

private

Definition at line 376 of file info.hpp.

FloatField hebi::Info::Settings::Actuator::effort_limit_max_

private

Definition at line 382 of file info.hpp.

FloatField hebi::Info::Settings::Actuator::effort_limit_min_

private

Definition at line 381 of file info.hpp.

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

private

Definition at line 388 of file info.hpp.

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

private

Definition at line 387 of file info.hpp.

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

private

Definition at line 386 of file info.hpp.

InfoGains hebi::Info::Settings::Actuator::position_gains_

private

Definition at line 374 of file info.hpp.

HighResAngleField hebi::Info::Settings::Actuator::position_limit_max_

private

Definition at line 384 of file info.hpp.

HighResAngleField hebi::Info::Settings::Actuator::position_limit_min_

private

Definition at line 383 of file info.hpp.

FloatField hebi::Info::Settings::Actuator::spring_constant_

private

Definition at line 378 of file info.hpp.

InfoGains hebi::Info::Settings::Actuator::velocity_gains_

private

Definition at line 375 of file info.hpp.

FloatField hebi::Info::Settings::Actuator::velocity_limit_max_

private

Definition at line 380 of file info.hpp.

FloatField hebi::Info::Settings::Actuator::velocity_limit_min_

private

Definition at line 379 of file info.hpp.

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

info.hpp

Private Attributes
EnumField< ControlStrategy >	control_strategy_

InfoGains	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_

InfoGains	position_gains_

HighResAngleField	position_limit_max_

HighResAngleField	position_limit_min_

FloatField	spring_constant_

InfoGains	velocity_gains_

FloatField	velocity_limit_max_

FloatField	velocity_limit_min_

Public Member Functions

Private Attributes

Detailed Description

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation