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

#include <command.hpp>

Classes
class	EffortGains
	Controller gains for the effort PID loop. More...

class	PositionGains
	Controller gains for the position PID loop. More...

class	VelocityGains
	Controller gains for the velocity PID loop. More...

Public Member Functions
PositionGains &	positionGains ()
	Controller gains for the position PID loop. More...

const PositionGains &	positionGains () const
	Controller gains for the position PID loop. More...

VelocityGains &	velocityGains ()
	Controller gains for the velocity PID loop. More...

const VelocityGains &	velocityGains () const
	Controller gains for the velocity PID loop. More...

EffortGains &	effortGains ()
	Controller gains for the effort PID loop. More...

const EffortGains &	effortGains () const
	Controller gains for the effort PID loop. More...

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

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

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

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

Detailed Description

Actuator-specific settings, such as controller gains.

Member Function Documentation

PositionGains& hebi::Command::Settings::Actuator::positionGains ( )

inline

Controller gains for the position PID loop.

const PositionGains& hebi::Command::Settings::Actuator::positionGains ( ) const

inline

Controller gains for the position PID loop.

VelocityGains& hebi::Command::Settings::Actuator::velocityGains ( )

inline

Controller gains for the velocity PID loop.

const VelocityGains& hebi::Command::Settings::Actuator::velocityGains ( ) const

inline

Controller gains for the velocity PID loop.

EffortGains& hebi::Command::Settings::Actuator::effortGains ( )

inline

Controller gains for the effort PID loop.

const EffortGains& hebi::Command::Settings::Actuator::effortGains ( ) const

inline

Controller gains for the effort PID loop.

FloatField& hebi::Command::Settings::Actuator::springConstant ( )

inline

The spring constant of the module.

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

inline

The spring constant of the module.

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

inline

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

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

inline

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

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