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const FloatField & | velocity () const |
| Velocity of the module output (post-spring), in radians/second. More...
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const FloatField & | effort () const |
| Effort at the module output; units vary (e.g., N * m for rotational joints and N for linear stages). More...
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const FloatField & | velocityCommand () const |
| Commanded velocity of the module output (post-spring), in radians/second. More...
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const FloatField & | effortCommand () const |
| Commanded effort at the module output; units vary (e.g., N * m for rotational joints and N for linear stages). More...
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const FloatField & | deflection () const |
| Difference (in radians) between the pre-spring and post-spring output position. More...
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const FloatField & | deflectionVelocity () const |
| Velocity (in radians/second) of the difference between the pre-spring and post-spring output position. More...
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const FloatField & | motorVelocity () const |
| The velocity (in radians/second) of the motor shaft. More...
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const FloatField & | motorCurrent () const |
| Current supplied to the motor. More...
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const FloatField & | motorSensorTemperature () const |
| The temperature from a sensor near the motor housing. More...
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const FloatField & | motorWindingCurrent () const |
| The estimated current in the motor windings. More...
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const FloatField & | motorWindingTemperature () const |
| The estimated temperature of the motor windings. More...
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const FloatField & | motorHousingTemperature () const |
| The estimated temperature of the motor housing. More...
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const FloatField & | pwmCommand () const |
| Commanded PWM signal sent to the motor; final output of PID controllers. More...
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const FloatField & | innerEffortCommand () const |
| In control strategies 2 and 4, this is the torque of force command going to the inner torque PID loop. More...
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const HighResAngleField & | position () const |
| Position of the module output (post-spring), in radians. More...
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const HighResAngleField & | positionCommand () const |
| Commanded position of the module output (post-spring), in radians. More...
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const HighResAngleField & | motorPosition () const |
| The position of an actuator’s internal motor before the gear reduction, in radians. More...
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const EnumField< TemperatureState > & | temperatureState () const |
| Describes how the temperature inside the module is limiting the output of the motor. More...
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const EnumField< MstopState > & | mstopState () const |
| Current status of the MStop. More...
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const EnumField< PositionLimitState > & | positionLimitState () const |
| Software-controlled bounds on the allowable position of the module; user settable. More...
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const EnumField< VelocityLimitState > & | velocityLimitState () const |
| Software-controlled bounds on the allowable velocity of the module. More...
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const EnumField< EffortLimitState > & | effortLimitState () const |
| Software-controlled bounds on the allowable effort of the module. More...
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const EnumField< CommandLifetimeState > & | commandLifetimeState () const |
| The state of the command lifetime safety controller, with respect to the current group. More...
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