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

#include <info.hpp>

Public Member Functions
const InfoGains &	positionGains () const
	Controller gains for the position PID loop. More...

const InfoGains &	velocityGains () const
	Controller gains for the velocity PID loop. More...

const InfoGains &	effortGains () const
	Controller gains for the effort PID loop. More...

const FloatField &	springConstant () const
	The spring constant of the module. 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

const InfoGains& hebi::Info::Settings::Actuator::positionGains ( ) const

inline

Controller gains for the position PID loop.

const InfoGains& hebi::Info::Settings::Actuator::velocityGains ( ) const

inline

Controller gains for the velocity PID loop.

const InfoGains& hebi::Info::Settings::Actuator::effortGains ( ) const

inline

Controller gains for the effort PID loop.

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

inline

The spring constant of the module.

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

inline

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

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