Class Motor

Defined in File motor.h

Class Documentation

class Motor

Public Functions

Motor()

void SetCurrentReference(double)

void SetVelocityReference(double)

void SetPositionReference(double)

void SetPositionOffset(double)

void SetKp(double)

void SetKd(double)

void SetSaturationCurrent(double)

void SetDriver(MotorDriver *driver)

void Print()

void Enable()

void Disable()

bool IsReady()

bool IsEnabled()

bool HasIndexBeenDetected()

bool GetIndexToggleBit()

double GetPosition()

double GetVelocity()

double GetCurrent()

double GetPositionOffset()

inline void set_position(double val)

inline void set_velocity(double val)

inline void set_current(double val)

inline void set_is_enabled(bool val)

inline void set_is_ready(bool val)

inline void set_has_index_been_detected(bool val)

inline void set_index_toggle_bit(bool val)

inline void set_position_ref(double val)

inline void set_velocity_ref(double val)

inline void set_current_ref(double val)

inline void set_current_sat(double val)

inline void set_kp(double val)

inline void set_kd(double val)

inline void set_enable(bool val)

inline void set_enable_position_rollover_error(bool val)

inline void set_enable_index_toggle_bit(bool val)

inline void set_enable_index_offset_compensation(bool val)

inline void set_driver(MotorDriver *new_driver)

inline double get_position()

inline double get_velocity()

inline double get_current()

inline bool get_is_enabled()

inline bool get_is_ready()

inline bool get_has_index_been_detected()

inline bool get_index_toggle_bit()

inline double get_position_ref()

inline double get_velocity_ref()

inline double get_current_ref()

inline double get_current_sat()

inline double get_kp()

inline double get_kd()

inline bool get_enable()

inline bool get_enable_position_rollover_error()

inline bool get_enable_index_toggle_bit()

inline bool get_enable_index_offset_compensation()

inline MotorDriver *get_driver()

Public Members

double position = 0.0

double velocity = 0.0

double current = 0.0

double position_offset = 0.0

bool is_enabled = false

bool is_ready = false

bool index_toggle_bit = false

bool has_index_been_detected = false

double position_ref = 0.0

double velocity_ref = 0.0

double current_ref = 0.0

double current_sat = 0.0

double kp = 0.0

double kd = 0.0

bool enable = false

bool enable_position_rollover_error = false

bool enable_index_toggle_bit = false

bool enable_index_offset_compensation = false

MotorDriver *driver