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CommandGains & | positionGains () |
| Controller gains for the position PID loop. More...
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const CommandGains & | positionGains () const |
| Controller gains for the position PID loop. More...
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CommandGains & | velocityGains () |
| Controller gains for the velocity PID loop. More...
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const CommandGains & | velocityGains () const |
| Controller gains for the velocity PID loop. More...
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CommandGains & | effortGains () |
| Controller gains for the effort PID loop. More...
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const CommandGains & | effortGains () const |
| Controller gains for the effort PID loop. More...
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FloatField & | springConstant () |
| The spring constant of the module. More...
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const FloatField & | springConstant () const |
| The spring constant of the module. More...
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FloatField & | referencePosition () |
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const FloatField & | referencePosition () const |
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FloatField & | referenceEffort () |
| The internal effort reference offset (setting this matches the current effort to the given reference command) More...
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const FloatField & | referenceEffort () const |
| The internal effort reference offset (setting this matches the current effort to the given reference command) More...
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FloatField & | velocityLimitMin () |
| The firmware safety limit for the minimum allowed velocity. More...
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const FloatField & | velocityLimitMin () const |
| The firmware safety limit for the minimum allowed velocity. More...
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FloatField & | velocityLimitMax () |
| The firmware safety limit for the maximum allowed velocity. More...
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const FloatField & | velocityLimitMax () const |
| The firmware safety limit for the maximum allowed velocity. More...
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FloatField & | effortLimitMin () |
| The firmware safety limit for the minimum allowed effort. More...
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const FloatField & | effortLimitMin () const |
| The firmware safety limit for the minimum allowed effort. More...
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FloatField & | effortLimitMax () |
| The firmware safety limit for the maximum allowed effort. More...
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const FloatField & | effortLimitMax () const |
| The firmware safety limit for the maximum allowed effort. More...
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HighResAngleField & | positionLimitMin () |
| The firmware safety limit for the minimum allowed position. More...
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const HighResAngleField & | positionLimitMin () const |
| The firmware safety limit for the minimum allowed position. More...
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HighResAngleField & | positionLimitMax () |
| The firmware safety limit for the maximum allowed position. More...
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const HighResAngleField & | positionLimitMax () const |
| The firmware safety limit for the maximum allowed position. More...
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EnumField< ControlStrategy > & | controlStrategy () |
| How the position, velocity, and effort PID loops are connected in order to control motor PWM. More...
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const EnumField< ControlStrategy > & | controlStrategy () const |
| How the position, velocity, and effort PID loops are connected in order to control motor PWM. More...
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EnumField< MstopStrategy > & | mstopStrategy () |
| The motion stop strategy for the actuator. More...
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const EnumField< MstopStrategy > & | mstopStrategy () const |
| The motion stop strategy for the actuator. More...
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EnumField< PositionLimitStrategy > & | minPositionLimitStrategy () |
| The position limit strategy (at the minimum position) for the actuator. More...
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const EnumField< PositionLimitStrategy > & | minPositionLimitStrategy () const |
| The position limit strategy (at the minimum position) for the actuator. More...
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EnumField< PositionLimitStrategy > & | maxPositionLimitStrategy () |
| The position limit strategy (at the maximum position) for the actuator. More...
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const EnumField< PositionLimitStrategy > & | maxPositionLimitStrategy () const |
| The position limit strategy (at the maximum position) for the actuator. More...
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