HEBI C++ API  3.10.0
All Classes Namespaces Files Functions Variables Typedefs Enumerations Enumerator Friends Macros Pages
hebi::Feedback::Actuator Class Referencefinal

Actuator-specific feedback. More...

#include <feedback.hpp>

Public Member Functions

const FloatFieldvelocity () const
 Velocity of the module output (post-spring), in radians/second. More...
 
const FloatFieldeffort () const
 Effort at the module output; units vary (e.g., N * m for rotational joints and N for linear stages). More...
 
const FloatFieldvelocityCommand () const
 Commanded velocity of the module output (post-spring), in radians/second. More...
 
const FloatFieldeffortCommand () const
 Commanded effort at the module output; units vary (e.g., N * m for rotational joints and N for linear stages). More...
 
const FloatFielddeflection () const
 Difference (in radians) between the pre-spring and post-spring output position. More...
 
const FloatFielddeflectionVelocity () const
 Velocity (in radians/second) of the difference between the pre-spring and post-spring output position. More...
 
const FloatFieldmotorVelocity () const
 The velocity (in radians/second) of the motor shaft. More...
 
const FloatFieldmotorCurrent () const
 Current supplied to the motor. More...
 
const FloatFieldmotorSensorTemperature () const
 The temperature from a sensor near the motor housing. More...
 
const FloatFieldmotorWindingCurrent () const
 The estimated current in the motor windings. More...
 
const FloatFieldmotorWindingTemperature () const
 The estimated temperature of the motor windings. More...
 
const FloatFieldmotorHousingTemperature () const
 The estimated temperature of the motor housing. More...
 
const FloatFieldpwmCommand () const
 Commanded PWM signal sent to the motor; final output of PID controllers. More...
 
const FloatFieldinnerEffortCommand () const
 In control strategies 2 and 4, this is the torque of force command going to the inner torque PID loop. More...
 
const HighResAngleFieldposition () const
 Position of the module output (post-spring), in radians. More...
 
const HighResAngleFieldpositionCommand () const
 Commanded position of the module output (post-spring), in radians. More...
 
const HighResAngleFieldmotorPosition () const
 The position of an actuator’s internal motor before the gear reduction, in radians. More...
 
const EnumField< TemperatureState > & temperatureState () const
 Describes how the temperature inside the module is limiting the output of the motor. More...
 
const EnumField< MstopState > & mstopState () const
 Current status of the MStop. More...
 
const EnumField< PositionLimitState > & positionLimitState () const
 Software-controlled bounds on the allowable position of the module; user settable. More...
 
const EnumField< VelocityLimitState > & velocityLimitState () const
 Software-controlled bounds on the allowable velocity of the module. More...
 
const EnumField< EffortLimitState > & effortLimitState () const
 Software-controlled bounds on the allowable effort of the module. More...
 
const EnumField< CommandLifetimeState > & commandLifetimeState () const
 The state of the command lifetime safety controller, with respect to the current group. More...
 

Detailed Description

Actuator-specific feedback.

Member Function Documentation

◆ velocity()

const FloatField& hebi::Feedback::Actuator::velocity ( ) const
inline

Velocity of the module output (post-spring), in radians/second.

◆ effort()

const FloatField& hebi::Feedback::Actuator::effort ( ) const
inline

Effort at the module output; units vary (e.g., N * m for rotational joints and N for linear stages).

◆ velocityCommand()

const FloatField& hebi::Feedback::Actuator::velocityCommand ( ) const
inline

Commanded velocity of the module output (post-spring), in radians/second.

◆ effortCommand()

const FloatField& hebi::Feedback::Actuator::effortCommand ( ) const
inline

Commanded effort at the module output; units vary (e.g., N * m for rotational joints and N for linear stages).

◆ deflection()

const FloatField& hebi::Feedback::Actuator::deflection ( ) const
inline

Difference (in radians) between the pre-spring and post-spring output position.

◆ deflectionVelocity()

const FloatField& hebi::Feedback::Actuator::deflectionVelocity ( ) const
inline

Velocity (in radians/second) of the difference between the pre-spring and post-spring output position.

◆ motorVelocity()

const FloatField& hebi::Feedback::Actuator::motorVelocity ( ) const
inline

The velocity (in radians/second) of the motor shaft.

◆ motorCurrent()

const FloatField& hebi::Feedback::Actuator::motorCurrent ( ) const
inline

Current supplied to the motor.

◆ motorSensorTemperature()

const FloatField& hebi::Feedback::Actuator::motorSensorTemperature ( ) const
inline

The temperature from a sensor near the motor housing.

◆ motorWindingCurrent()

const FloatField& hebi::Feedback::Actuator::motorWindingCurrent ( ) const
inline

The estimated current in the motor windings.

◆ motorWindingTemperature()

const FloatField& hebi::Feedback::Actuator::motorWindingTemperature ( ) const
inline

The estimated temperature of the motor windings.

◆ motorHousingTemperature()

const FloatField& hebi::Feedback::Actuator::motorHousingTemperature ( ) const
inline

The estimated temperature of the motor housing.

◆ pwmCommand()

const FloatField& hebi::Feedback::Actuator::pwmCommand ( ) const
inline

Commanded PWM signal sent to the motor; final output of PID controllers.

◆ innerEffortCommand()

const FloatField& hebi::Feedback::Actuator::innerEffortCommand ( ) const
inline

In control strategies 2 and 4, this is the torque of force command going to the inner torque PID loop.

◆ position()

const HighResAngleField& hebi::Feedback::Actuator::position ( ) const
inline

Position of the module output (post-spring), in radians.

◆ positionCommand()

const HighResAngleField& hebi::Feedback::Actuator::positionCommand ( ) const
inline

Commanded position of the module output (post-spring), in radians.

◆ motorPosition()

const HighResAngleField& hebi::Feedback::Actuator::motorPosition ( ) const
inline

The position of an actuator’s internal motor before the gear reduction, in radians.

◆ temperatureState()

const EnumField<TemperatureState>& hebi::Feedback::Actuator::temperatureState ( ) const
inline

Describes how the temperature inside the module is limiting the output of the motor.

◆ mstopState()

const EnumField<MstopState>& hebi::Feedback::Actuator::mstopState ( ) const
inline

Current status of the MStop.

◆ positionLimitState()

const EnumField<PositionLimitState>& hebi::Feedback::Actuator::positionLimitState ( ) const
inline

Software-controlled bounds on the allowable position of the module; user settable.

◆ velocityLimitState()

const EnumField<VelocityLimitState>& hebi::Feedback::Actuator::velocityLimitState ( ) const
inline

Software-controlled bounds on the allowable velocity of the module.

◆ effortLimitState()

const EnumField<EffortLimitState>& hebi::Feedback::Actuator::effortLimitState ( ) const
inline

Software-controlled bounds on the allowable effort of the module.

◆ commandLifetimeState()

const EnumField<CommandLifetimeState>& hebi::Feedback::Actuator::commandLifetimeState ( ) const
inline

The state of the command lifetime safety controller, with respect to the current group.


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