#include <assert.h>

Include dependency graph for shvel-param.h:

This graph shows which files directly or indirectly include this file:

Enumerations
enum	{ SERVO_LEVEL_STOP = 0, SERVO_LEVEL_COUNTER, SERVO_LEVEL_TORQUE, SERVO_LEVEL_VELOCITY, SERVO_LEVEL_POSITION, SERVO_LEVEL_OPENFREE }

enum	YPSpur_shvel_error_state { ERROR_NONE = 0, ERROR_LOW_VOLTAGE = 0x0001, ERROR_HALL_SEQ = 0x0002, ERROR_HALL_ENC = 0x0004, ERROR_WATCHDOG = 0x0008, ERROR_EEPROM = 0x0010, ERROR_INTERNAL = 0x0020 }

enum	YPSpur_shvel_interrupt { INT_enc_index_rise = 0, INT_enc_index_fall, INT_error_state, INT_ping_response, INT_debug_dump }

enum	YPSpur_shvel_param { PARAM_w_ref = 0, PARAM_w_ref_highprec, PARAM_p_ki, PARAM_p_kv, PARAM_p_fr_plus, PARAM_p_fr_wplus, PARAM_p_fr_minus, PARAM_p_fr_wminus, PARAM_p_A, PARAM_p_B, PARAM_p_C, PARAM_p_D, PARAM_p_E, PARAM_p_F, PARAM_p_pi_kp, PARAM_p_pi_ki, PARAM_pwm_max, PARAM_pwm_min, PARAM_toq_max, PARAM_toq_min, PARAM_int_max, PARAM_int_min, PARAM_p_toq_offset, PARAM_toq_limit, PARAM_enc_rev, PARAM_motor_phase, PARAM_vsrc, PARAM_p_inertia_self, PARAM_p_inertia_cross, PARAM_enc_type, PARAM_control_cycle, PARAM_enc_div, PARAM_enc_denominator, PARAM_hall_delay_factor, PARAM_lr_cutoff_vel, PARAM_vmin, PARAM_BLOCK0_END, PARAM_servo = 64, PARAM_watch_dog_limit, PARAM_heartbeat, PARAM_BLOCK1_END, PARAM_io_dir = 96, PARAM_io_data, PARAM_ad_mask, PARAM_phase_offset, PARAM_protocol_version, PARAM_ping, PARAM_dump, PARAM_BLOCK2_END }

Macro Definition Documentation

◆ MOTOR_ID_BROADCAST

#define MOTOR_ID_BROADCAST 0x7E

Definition at line 128 of file shvel-param.h.

anonymous enum

Definition at line 39 of file shvel-param.h.

Definition at line 117 of file shvel-param.h.

Definition at line 108 of file shvel-param.h.

Definition at line 49 of file shvel-param.h.