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

#include <command.hpp>

Public Member Functions
	Actuator (HebiCommandPtr 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...

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

const FloatField &	referencePosition () const
	The internal encoder reference offset (setting this matches the current position to the given reference command) More...

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...

Detailed Description

Actuator-specific settings, such as controller gains.

Definition at line 490 of file command.hpp.

Constructor & Destructor Documentation

hebi::Command::Settings::Actuator::Actuator ( HebiCommandPtr internal )

inline

Definition at line 494 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 550 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 552 of file command.hpp.

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

inline

Controller gains for the effort PID loop.

Definition at line 523 of file command.hpp.

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

inline

Controller gains for the effort PID loop.

Definition at line 525 of file command.hpp.

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

inline

Controller gains for the position PID loop.

Definition at line 515 of file command.hpp.

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

inline

Controller gains for the position PID loop.

Definition at line 517 of file command.hpp.

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

inline

The firmware safety limit for the maximum allowed position.

Definition at line 546 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 548 of file command.hpp.

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

inline

The firmware safety limit for the minimum allowed position.

Definition at line 542 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 544 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 538 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 540 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 534 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 536 of file command.hpp.

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

inline

The spring constant of the module.

Definition at line 530 of file command.hpp.

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

inline

The spring constant of the module.

Definition at line 532 of file command.hpp.

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

inline

Controller gains for the velocity PID loop.

Definition at line 519 of file command.hpp.

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

inline

Controller gains for the velocity PID loop.

Definition at line 521 of file command.hpp.

Member Data Documentation

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

private

Definition at line 566 of file command.hpp.

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

private

Definition at line 559 of file command.hpp.

HebiCommandPtr const hebi::Command::Settings::Actuator::internal_

private

Definition at line 555 of file command.hpp.

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

private

Definition at line 557 of file command.hpp.

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

private

Definition at line 565 of file command.hpp.

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

private

Definition at line 564 of file command.hpp.

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

private

Definition at line 563 of file command.hpp.

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

private

Definition at line 562 of file command.hpp.

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

private

Definition at line 561 of file command.hpp.

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

private

Definition at line 558 of file command.hpp.

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

command.hpp

Private Attributes
EnumField< ControlStrategy >	control_strategy_

CommandGains	effort_gains_

HebiCommandPtr const	internal_

CommandGains	position_gains_

HighResAngleField	position_limit_max_

HighResAngleField	position_limit_min_

FloatField	reference_effort_

FloatField	reference_position_

FloatField	spring_constant_

CommandGains	velocity_gains_

Public Member Functions

Private Attributes

Detailed Description

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation