hebi::Info::Settings::Actuator Class Reference

Actuator-specific settings, such as controller gains. More...

#include <info.hpp>

Public Member Functions
const InfoGains &	positionGains () const
	Controller gains for the position PID loop. More...
const InfoGains &	velocityGains () const
	Controller gains for the velocity PID loop. More...
const InfoGains &	effortGains () const
	Controller gains for the effort PID loop. More...
const FloatField &	springConstant () const
	The spring constant of the module. More...
const FloatField &	velocityLimitMin () const
	The firmware safety limit for the minimum allowed velocity. More...
const FloatField &	velocityLimitMax () const
	The firmware safety limit for the maximum allowed velocity. More...
const FloatField &	effortLimitMin () const
	The firmware safety limit for the minimum allowed effort. More...
const FloatField &	effortLimitMax () const
	The firmware safety limit for the maximum allowed effort. More...
const HighResAngleField &	positionLimitMin () const
	The firmware safety limit for the minimum allowed position. More...
const HighResAngleField &	positionLimitMax () const
	The firmware safety limit for the maximum allowed position. More...
const EnumField< ControlStrategy > &	controlStrategy () const
	How the position, velocity, and effort PID loops are connected in order to control motor PWM. More...
const EnumField< MstopStrategy > &	mstopStrategy () const
	The motion stop strategy for the actuator. More...
const EnumField< PositionLimitStrategy > &	minPositionLimitStrategy () const
	The position limit strategy (at the minimum 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()

const InfoGains& hebi::Info::Settings::Actuator::positionGains ( ) const

inline

Controller gains for the position PID loop.

velocityGains()

const InfoGains& hebi::Info::Settings::Actuator::velocityGains ( ) const

inline

Controller gains for the velocity PID loop.

effortGains()

const InfoGains& hebi::Info::Settings::Actuator::effortGains ( ) const

inline

Controller gains for the effort PID loop.

springConstant()

const FloatField& hebi::Info::Settings::Actuator::springConstant ( ) const

inline

The spring constant of the module.

velocityLimitMin()

const FloatField& hebi::Info::Settings::Actuator::velocityLimitMin ( ) const

inline

The firmware safety limit for the minimum allowed velocity.

velocityLimitMax()

const FloatField& hebi::Info::Settings::Actuator::velocityLimitMax ( ) const

inline

The firmware safety limit for the maximum allowed velocity.

effortLimitMin()

const FloatField& hebi::Info::Settings::Actuator::effortLimitMin ( ) const

inline

The firmware safety limit for the minimum allowed effort.

effortLimitMax()

const FloatField& hebi::Info::Settings::Actuator::effortLimitMax ( ) const

inline

The firmware safety limit for the maximum allowed effort.

positionLimitMin()

const HighResAngleField& hebi::Info::Settings::Actuator::positionLimitMin ( ) const

inline

The firmware safety limit for the minimum allowed position.

positionLimitMax()

const HighResAngleField& hebi::Info::Settings::Actuator::positionLimitMax ( ) const

inline

The firmware safety limit for the maximum allowed position.

controlStrategy()

const EnumField<ControlStrategy>& hebi::Info::Settings::Actuator::controlStrategy ( ) const

inline

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

mstopStrategy()

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

inline

The motion stop strategy for the actuator.

minPositionLimitStrategy()

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

inline

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

maxPositionLimitStrategy()

const EnumField<PositionLimitStrategy>& hebi::Info::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:

• info.hpp