Class Settings::Actuator

Defined in File command.hpp

Nested Relationships

This class is a nested type of Class Command::Settings.

Class Documentation

class Actuator

Actuator-specific settings, such as controller gains.

Public Functions

inline Actuator(HebiCommandRef &internal)

inline CommandGains &positionGains(): Controller gains for the position PID loop.

inline const CommandGains &positionGains() const: Controller gains for the position PID loop.

inline CommandGains &velocityGains(): Controller gains for the velocity PID loop.

inline const CommandGains &velocityGains() const: Controller gains for the velocity PID loop.

inline CommandGains &effortGains(): Controller gains for the effort PID loop.

inline const CommandGains &effortGains() const: Controller gains for the effort PID loop.

inline FloatField &springConstant(): The spring constant of the module.

inline const FloatField &springConstant() const: The spring constant of the module.

inline FloatField &referencePosition(): The internal encoder reference offset (setting this matches the current position to the given reference command)

inline const FloatField &referencePosition() const: The internal encoder reference offset (setting this matches the current position to the given reference command)

inline FloatField &referenceEffort(): The internal effort reference offset (setting this matches the current effort to the given reference command)

inline const FloatField &referenceEffort() const: The internal effort reference offset (setting this matches the current effort to the given reference command)

inline FloatField &velocityLimitMin(): The firmware safety limit for the minimum allowed velocity.

inline const FloatField &velocityLimitMin() const: The firmware safety limit for the minimum allowed velocity.

inline FloatField &velocityLimitMax(): The firmware safety limit for the maximum allowed velocity.

inline const FloatField &velocityLimitMax() const: The firmware safety limit for the maximum allowed velocity.

inline FloatField &effortLimitMin(): The firmware safety limit for the minimum allowed effort.

inline const FloatField &effortLimitMin() const: The firmware safety limit for the minimum allowed effort.

inline FloatField &effortLimitMax(): The firmware safety limit for the maximum allowed effort.

inline const FloatField &effortLimitMax() const: The firmware safety limit for the maximum allowed effort.

inline FloatField &offsetReferencePosition(): The internal encoder reference offset (setting this offsets the current position by the given reference command)

inline const FloatField &offsetReferencePosition() const: The internal encoder reference offset (setting this offsets the current position by the given reference command)

inline HighResAngleField &positionLimitMin(): The firmware safety limit for the minimum allowed position.

inline const HighResAngleField &positionLimitMin() const: The firmware safety limit for the minimum allowed position.

inline HighResAngleField &positionLimitMax(): The firmware safety limit for the maximum allowed position.

inline const HighResAngleField &positionLimitMax() const: The firmware safety limit for the maximum allowed position.

inline EnumField<ControlStrategy> &controlStrategy(): How the position, velocity, and effort PID loops are connected in order to control motor PWM.

inline const EnumField<ControlStrategy> &controlStrategy() const: How the position, velocity, and effort PID loops are connected in order to control motor PWM.

inline EnumField<MstopStrategy> &mstopStrategy(): The motion stop strategy for the actuator.

inline const EnumField<MstopStrategy> &mstopStrategy() const: The motion stop strategy for the actuator.

inline EnumField<PositionLimitStrategy> &minPositionLimitStrategy(): The position limit strategy (at the minimum position) for the actuator.

inline const EnumField<PositionLimitStrategy> &minPositionLimitStrategy() const: The position limit strategy (at the minimum position) for the actuator.

inline EnumField<PositionLimitStrategy> &maxPositionLimitStrategy(): The position limit strategy (at the maximum position) for the actuator.

inline const EnumField<PositionLimitStrategy> &maxPositionLimitStrategy() const: The position limit strategy (at the maximum position) for the actuator.