driver_svh::SVHHomeSettings Struct Reference

data sctructure for home positions More...

#include <SVHHomeSettings.h>

Public Member Functions
	SVHHomeSettings ()
	SVHHomeSettings Default constructor initializing empty homeSettings. This is not usefull and should be filled immediately after. More...
	SVHHomeSettings (const int &direction, const float &minimum_offset, const float &maximum_offset, const float &idle_position, const float &range_rad, const float &reset_current_factor)
	SVHHomeSettingsn Constructor for the home settings, providing each value individually. More...
	SVHHomeSettings (const std::vector< float > &home_settings)
	SVHHomeSettings Convenience constructor to easily construct home settings out of a singe vector. Values are evaluated in order and if the vector is to short, values will be filles with zeros. More...

Public Attributes
int	direction
	Movement direction of the finger +1 or -1 home in positive or negative direction. More...
float	idle_position
float	maximum_offset
	Maximum reachable tick limit, given as an offset from the hard stop (soft limit) More...
float	minimum_offset
	Minimum reachable tick limit, given as offset from the hard stop (soft limit) More...
float	range_rad
float	reset_current_factor

Detailed Description

data sctructure for home positions

Definition at line 44 of file SVHHomeSettings.h.

Constructor & Destructor Documentation

SVHHomeSettings() [1/3]

driver_svh::SVHHomeSettings::SVHHomeSettings ( )

inline

SVHHomeSettings Default constructor initializing empty homeSettings. This is not usefull and should be filled immediately after.

Definition at line 72 of file SVHHomeSettings.h.

SVHHomeSettings() [2/3]

driver_svh::SVHHomeSettings::SVHHomeSettings ( const int &  direction, const float &  minimum_offset, const float &  maximum_offset, const float &  idle_position, const float &  range_rad, const float &  reset_current_factor  )

inline

SVHHomeSettingsn Constructor for the home settings, providing each value individually.

Parameters

direction_	Reset direction +1 oder -1
minimumOffset_	soft stop minimum value
maximumOffset_	soft stop maximum value
idlePosition_	position to go to after reset
rangeRad_	range of moevement in rad

Definition at line 90 of file SVHHomeSettings.h.

SVHHomeSettings() [3/3]

driver_svh::SVHHomeSettings::SVHHomeSettings ( const std::vector< float > &  home_settings )

inline

SVHHomeSettings Convenience constructor to easily construct home settings out of a singe vector. Values are evaluated in order and if the vector is to short, values will be filles with zeros.

Parameters

home_settings

vector of floats containing the values for the home settings. If the vector is to short the remaining values will be filled with zeros. If it is to long only as much elements as there are values in HomeSettings will be evaluated

Definition at line 115 of file SVHHomeSettings.h.

Member Data Documentation

direction

int driver_svh::SVHHomeSettings::direction

Movement direction of the finger +1 or -1 home in positive or negative direction.

Definition at line 47 of file SVHHomeSettings.h.

idle_position

float driver_svh::SVHHomeSettings::idle_position

Idle position to move the fingers to after initialization

Note

This position should be within the min and max offset positions.

Definition at line 54 of file SVHHomeSettings.h.

maximum_offset

float driver_svh::SVHHomeSettings::maximum_offset

Maximum reachable tick limit, given as an offset from the hard stop (soft limit)

Definition at line 51 of file SVHHomeSettings.h.

minimum_offset

float driver_svh::SVHHomeSettings::minimum_offset

Minimum reachable tick limit, given as offset from the hard stop (soft limit)

Definition at line 49 of file SVHHomeSettings.h.

range_rad

float driver_svh::SVHHomeSettings::range_rad

The total angle in [rad] that is used by the finger i.e. the anlge between one (soft) stop and the other This value will be used for calculation of the ticks

Note

Currently we use the HARD STOP to HARD STOP angle but map that to a range of ticks from SOFT STOP to SOFT STOP this might be the wrong approach

as we therefore would get an angle of zero event hough the finger might be standing at 5k ticks. However by using this method we can asure the Range of the

input to be of constant size. This night change to better reflect the real rad value

Definition at line 62 of file SVHHomeSettings.h.

reset_current_factor

float driver_svh::SVHHomeSettings::reset_current_factor

The resetCurrentFactor indicates how much of the maximum allowed current (of the controller) must be present in order to decide that a hard stop was reached.

Note

Values betweeen 0.0 and 1.0 are allowed

Definition at line 66 of file SVHHomeSettings.h.

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

• SVHHomeSettings.h