hebi::Feedback::Actuator Class Reference

Actuator-specific feedback. More...

#include <feedback.hpp>

Public Member Functions
const FloatField &	velocity () const
	Velocity of the module output (post-spring), in radians/second. More...
const FloatField &	effort () const
	Effort at the module output; units vary (e.g., N * m for rotational joints and N for linear stages). More...
const FloatField &	velocityCommand () const
	Commanded velocity of the module output (post-spring), in radians/second. More...
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...
const FloatField &	deflection () const
	Difference (in radians) between the pre-spring and post-spring output position. More...
const FloatField &	deflectionVelocity () const
	Velocity (in radians/second) of the difference between the pre-spring and post-spring output position. More...
const FloatField &	motorVelocity () const
	The velocity (in radians/second) of the motor shaft. More...
const FloatField &	motorCurrent () const
	Current supplied to the motor. More...
const FloatField &	motorSensorTemperature () const
	The temperature from a sensor near the motor housing. More...
const FloatField &	motorWindingCurrent () const
	The estimated current in the motor windings. More...
const FloatField &	motorWindingTemperature () const
	The estimated temperature of the motor windings. More...
const FloatField &	motorHousingTemperature () const
	The estimated temperature of the motor housing. More...
const FloatField &	pwmCommand () const
	Commanded PWM signal sent to the motor; final output of PID controllers. More...
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...
const HighResAngleField &	position () const
	Position of the module output (post-spring), in radians. More...
const HighResAngleField &	positionCommand () const
	Commanded position of the module output (post-spring), in radians. More...
const HighResAngleField &	motorPosition () 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...
const EnumField< MotorHallState > &	motorHallState () const
	The current hall state of the motor. More...
const EnumField< DrivetrainState > &	drivetrainState () const
	Current status of the motor drivetrain. 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.

motorHallState()

const EnumField<MotorHallState>& hebi::Feedback::Actuator::motorHallState ( ) const

inline

The current hall state of the motor.

drivetrainState()

const EnumField<DrivetrainState>& hebi::Feedback::Actuator::drivetrainState ( ) const

inline

Current status of the motor drivetrain.

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

• feedback.hpp