HEBI C++ API  3.9.0
hebi::Info::Settings::Actuator Class Referencefinal

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

#include <info.hpp>

Public Member Functions

const InfoGainspositionGains () const
 Controller gains for the position PID loop. More...
 
const InfoGainsvelocityGains () const
 Controller gains for the velocity PID loop. More...
 
const InfoGainseffortGains () const
 Controller gains for the effort PID loop. More...
 
const FloatFieldspringConstant () const
 The spring constant of the module. More...
 
const FloatFieldvelocityLimitMin () const
 The firmware safety limit for the minimum allowed velocity. More...
 
const FloatFieldvelocityLimitMax () const
 The firmware safety limit for the maximum allowed velocity. More...
 
const FloatFieldeffortLimitMin () const
 The firmware safety limit for the minimum allowed effort. More...
 
const FloatFieldeffortLimitMax () const
 The firmware safety limit for the maximum allowed effort. More...
 
const HighResAngleFieldpositionLimitMin () const
 The firmware safety limit for the minimum allowed position. More...
 
const HighResAngleFieldpositionLimitMax () 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: