HEBI C++ API  3.16.0
Public Member Functions | List of all members
hebi::Command::Settings::Actuator Class Referencefinal

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 ()
 
const FloatField & referencePosition () const
 
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...
 
FloatField & velocityLimitMin ()
 The firmware safety limit for the minimum allowed velocity. More...
 
const FloatField & velocityLimitMin () const
 The firmware safety limit for the minimum allowed velocity. More...
 
FloatField & velocityLimitMax ()
 The firmware safety limit for the maximum allowed velocity. More...
 
const FloatField & velocityLimitMax () const
 The firmware safety limit for the maximum allowed velocity. More...
 
FloatField & effortLimitMin ()
 The firmware safety limit for the minimum allowed effort. More...
 
const FloatField & effortLimitMin () const
 The firmware safety limit for the minimum allowed effort. More...
 
FloatField & effortLimitMax ()
 The firmware safety limit for the maximum allowed effort. More...
 
const FloatField & effortLimitMax () const
 The firmware safety limit for the maximum allowed effort. More...
 
FloatField & offsetReferencePosition ()
 
const FloatField & offsetReferencePosition () const
 
HighResAngleField & positionLimitMin ()
 The firmware safety limit for the minimum allowed position. More...
 
const HighResAngleField & positionLimitMin () const
 The firmware safety limit for the minimum allowed position. More...
 
HighResAngleField & positionLimitMax ()
 The firmware safety limit for the maximum allowed position. More...
 
const HighResAngleField & positionLimitMax () const
 The firmware safety limit for the maximum allowed position. 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...
 
EnumField< MstopStrategy > & mstopStrategy ()
 The motion stop strategy for the actuator. More...
 
const EnumField< MstopStrategy > & mstopStrategy () const
 The motion stop strategy for the actuator. More...
 
EnumField< PositionLimitStrategy > & minPositionLimitStrategy ()
 The position limit strategy (at the minimum position) for the actuator. More...
 
const EnumField< PositionLimitStrategy > & minPositionLimitStrategy () const
 The position limit strategy (at the minimum position) for the actuator. More...
 
EnumField< PositionLimitStrategy > & maxPositionLimitStrategy ()
 The position limit strategy (at the maximum position) for the actuator. More...
 
const EnumField< PositionLimitStrategy > & maxPositionLimitStrategy () const
 The position limit strategy (at the maximum position) for the actuator. More...
 

Detailed Description

Actuator-specific settings, such as controller gains.

Member Function Documentation

◆ positionGains() [1/2]

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

Controller gains for the position PID loop.

◆ positionGains() [2/2]

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

Controller gains for the position PID loop.

◆ velocityGains() [1/2]

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

Controller gains for the velocity PID loop.

◆ velocityGains() [2/2]

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

Controller gains for the velocity PID loop.

◆ effortGains() [1/2]

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

Controller gains for the effort PID loop.

◆ effortGains() [2/2]

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

Controller gains for the effort PID loop.

◆ springConstant() [1/2]

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

The spring constant of the module.

◆ springConstant() [2/2]

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

The spring constant of the module.

◆ referencePosition() [1/2]

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

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

◆ referencePosition() [2/2]

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)

◆ referenceEffort() [1/2]

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

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

◆ referenceEffort() [2/2]

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)

◆ velocityLimitMin() [1/2]

FloatField& hebi::Command::Settings::Actuator::velocityLimitMin ( )
inline

The firmware safety limit for the minimum allowed velocity.

◆ velocityLimitMin() [2/2]

const FloatField& hebi::Command::Settings::Actuator::velocityLimitMin ( ) const
inline

The firmware safety limit for the minimum allowed velocity.

◆ velocityLimitMax() [1/2]

FloatField& hebi::Command::Settings::Actuator::velocityLimitMax ( )
inline

The firmware safety limit for the maximum allowed velocity.

◆ velocityLimitMax() [2/2]

const FloatField& hebi::Command::Settings::Actuator::velocityLimitMax ( ) const
inline

The firmware safety limit for the maximum allowed velocity.

◆ effortLimitMin() [1/2]

FloatField& hebi::Command::Settings::Actuator::effortLimitMin ( )
inline

The firmware safety limit for the minimum allowed effort.

◆ effortLimitMin() [2/2]

const FloatField& hebi::Command::Settings::Actuator::effortLimitMin ( ) const
inline

The firmware safety limit for the minimum allowed effort.

◆ effortLimitMax() [1/2]

FloatField& hebi::Command::Settings::Actuator::effortLimitMax ( )
inline

The firmware safety limit for the maximum allowed effort.

◆ effortLimitMax() [2/2]

const FloatField& hebi::Command::Settings::Actuator::effortLimitMax ( ) const
inline

The firmware safety limit for the maximum allowed effort.

◆ offsetReferencePosition() [1/2]

FloatField& hebi::Command::Settings::Actuator::offsetReferencePosition ( )
inline

The internal encoder reference offset (setting this offsets the current position by the given reference command)

◆ offsetReferencePosition() [2/2]

const FloatField& hebi::Command::Settings::Actuator::offsetReferencePosition ( ) const
inline

The internal encoder reference offset (setting this offsets the current position by the given reference command)

◆ positionLimitMin() [1/2]

HighResAngleField& hebi::Command::Settings::Actuator::positionLimitMin ( )
inline

The firmware safety limit for the minimum allowed position.

◆ positionLimitMin() [2/2]

const HighResAngleField& hebi::Command::Settings::Actuator::positionLimitMin ( ) const
inline

The firmware safety limit for the minimum allowed position.

◆ positionLimitMax() [1/2]

HighResAngleField& hebi::Command::Settings::Actuator::positionLimitMax ( )
inline

The firmware safety limit for the maximum allowed position.

◆ positionLimitMax() [2/2]

const HighResAngleField& hebi::Command::Settings::Actuator::positionLimitMax ( ) const
inline

The firmware safety limit for the maximum allowed position.

◆ controlStrategy() [1/2]

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

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

◆ controlStrategy() [2/2]

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.

◆ mstopStrategy() [1/2]

EnumField<MstopStrategy>& hebi::Command::Settings::Actuator::mstopStrategy ( )
inline

The motion stop strategy for the actuator.

◆ mstopStrategy() [2/2]

const EnumField<MstopStrategy>& hebi::Command::Settings::Actuator::mstopStrategy ( ) const
inline

The motion stop strategy for the actuator.

◆ minPositionLimitStrategy() [1/2]

EnumField<PositionLimitStrategy>& hebi::Command::Settings::Actuator::minPositionLimitStrategy ( )
inline

The position limit strategy (at the minimum position) for the actuator.

◆ minPositionLimitStrategy() [2/2]

const EnumField<PositionLimitStrategy>& hebi::Command::Settings::Actuator::minPositionLimitStrategy ( ) const
inline

The position limit strategy (at the minimum position) for the actuator.

◆ maxPositionLimitStrategy() [1/2]

EnumField<PositionLimitStrategy>& hebi::Command::Settings::Actuator::maxPositionLimitStrategy ( )
inline

The position limit strategy (at the maximum position) for the actuator.

◆ maxPositionLimitStrategy() [2/2]

const EnumField<PositionLimitStrategy>& hebi::Command::Settings::Actuator::maxPositionLimitStrategy ( ) const
inline

The position limit strategy (at the maximum position) for the actuator.

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