HEBI C++ API
3.9.0
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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... | |
Actuator-specific feedback.
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inline |
Velocity of the module output (post-spring), in radians/second.
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inline |
Effort at the module output; units vary (e.g., N * m for rotational joints and N for linear stages).
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inline |
Commanded velocity of the module output (post-spring), in radians/second.
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inline |
Commanded effort at the module output; units vary (e.g., N * m for rotational joints and N for linear stages).
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inline |
Difference (in radians) between the pre-spring and post-spring output position.
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inline |
Velocity (in radians/second) of the difference between the pre-spring and post-spring output position.
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inline |
The velocity (in radians/second) of the motor shaft.
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inline |
Current supplied to the motor.
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inline |
The temperature from a sensor near the motor housing.
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inline |
The estimated current in the motor windings.
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inline |
The estimated temperature of the motor windings.
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inline |
The estimated temperature of the motor housing.
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inline |
Commanded PWM signal sent to the motor; final output of PID controllers.
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inline |
In control strategies 2 and 4, this is the torque of force command going to the inner torque PID loop.
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inline |
Position of the module output (post-spring), in radians.
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inline |
Commanded position of the module output (post-spring), in radians.
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inline |
The position of an actuator’s internal motor before the gear reduction, in radians.
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inline |
Describes how the temperature inside the module is limiting the output of the motor.
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inline |
Current status of the MStop.
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inline |
Software-controlled bounds on the allowable position of the module; user settable.
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inline |
Software-controlled bounds on the allowable velocity of the module.
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inline |
Software-controlled bounds on the allowable effort of the module.
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inline |
The state of the command lifetime safety controller, with respect to the current group.