hebi::Command::Settings::Actuator Class Reference

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

#include <command.hpp>

Public Member Functions
CommandGains &	positionGains ()
	Controller gains for the position PID loop. More...
const CommandGains &	positionGains () const
	Controller gains for the position PID loop. More...
CommandGains &	velocityGains ()
	Controller gains for the velocity PID loop. More...
const CommandGains &	velocityGains () const
	Controller gains for the velocity PID loop. More...
CommandGains &	effortGains ()
	Controller gains for the effort PID loop. More...
const CommandGains &	effortGains () const
	Controller gains for the effort PID loop. More...
FloatField &	springConstant ()
	The spring constant of the module. More...
const FloatField &	springConstant () const
	The spring constant of the module. 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 &	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...
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...

Detailed Description

Actuator-specific settings, such as controller gains.

Member Function Documentation

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

inline

Controller gains for the position PID loop.

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

inline

Controller gains for the position PID loop.

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

inline

Controller gains for the velocity PID loop.

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

inline

Controller gains for the velocity PID loop.

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

inline

Controller gains for the effort PID loop.

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

inline

Controller gains for the effort PID loop.

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

inline

The spring constant of the module.

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

inline

The spring constant of the module.

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

inline

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

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)

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

inline

The internal effort reference offset (setting this matches the current effort to the given reference command)

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)

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

inline

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

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.

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

• src/command.hpp