ControllerData Class Reference

class to store information related to controllers. More...

#include <ControllerData.h>

Public Member Functions
	ControllerData (config_defs::joint_id id, uint8_t *config_to_send)
void	reconfigure (uint8_t *config_to_send)
	reconfigures the the controller data if the configuration changes after constructor called.
uint8_t	get_parameter_length ()
	Get the parameter length for the current controller.

Public Attributes
uint8_t	controller
config_defs::JointType	joint
float	setpoint
float	ff_setpoint
float	parameters [controller_defs::max_parameters]
uint8_t	parameter_set
float	filtered_torque_reading
float	filtered_cmd
float	filtered_setpoint = 0
float	kf = 1
float	prev_max_measured = 0
float	prev_max_setpoint = 0
float	max_measured = 0
float	max_setpoint = 0
float	reference_angle = 0
float	reference_angle_offset = 0
bool	reference_angle_updated = false
float	filtered_squelched_supportive_term = 0
float	neutral_angle = 0.0f
bool	prev_calibrate_trq_sensor = false
const float	cal_neutral_angle_alpha = 0.01f
float	level_entrance_angle = 0.0f
float	prev_calibrate_level_entrance = false
const float	cal_level_entrance_angle_alpha = 0.01f
float	fsr_toe_min_elbow = 0
float	fsr_toe_max_elbow = 0
float	fsr_heel_min_elbow = 0
float	fsr_heel_max_elbow = 0
float	fsr_toe_sum_elbow = 0
float	fsr_heel_sum_elbow = 0
int	i_elbow = 0
int	fsr_toe_array_elbow [50] = {0}
int	fsr_heel_array_elbow [50] = {0}
bool	is_first_run_elbow = true
float	output_limit_elbow = 5
float	fsr_min_max_elbow = 0
bool	is_first_fsr_reading_elbow = true
float	fsr_toe_previous_elbow = 0
float	fsr_heel_previous_elbow = 0
float	elbow_cmd = 0
bool	isPerturbing = false
bool	ptbDetermined = false
float	time_current_ptb = 0
float	time_previous_ptb = 0
bool	ptbApplied = false
bool	ptbRandomIsFirstRun = true
uint16_t	ptb_iStep = 0
bool	ptb_newIsSwing = true
bool	ptb_oldIsSwing = true
uint8_t	ptb_frequency = 0
uint16_t	ptb_iiStep = 0
uint16_t	ptb_setpoint = 0
bool	ptb_fsrGotHigh = false
bool	calibrComplete = false
uint16_t	iCalibr = 0
int	PIDMLTPLR = 0
bool	calibrStart = false
float	calibrSum = 0
float	previous_cmd = 0

Detailed Description

class to store information related to controllers.

Constructor & Destructor Documentation

ControllerData()

ControllerData::ControllerData	(	config_defs::joint_id	id,
		uint8_t *	config_to_send
	)

Member Function Documentation

get_parameter_length()

uint8_t ControllerData::get_parameter_length

(

)

Get the parameter length for the current controller.

Returns

uint8_t parameter length

reconfigure()

void ControllerData::reconfigure

(

uint8_t *

config_to_send

)

reconfigures the the controller data if the configuration changes after constructor called.

Parameters

configuration

array

Member Data Documentation

cal_level_entrance_angle_alpha

const float ControllerData::cal_level_entrance_angle_alpha = 0.01f

alpha for the low pass on the level entrance calibration

cal_neutral_angle_alpha

const float ControllerData::cal_neutral_angle_alpha = 0.01f

alpha for the low pass on the neutral angle calibration

calibrComplete

bool ControllerData::calibrComplete = false

calibrStart

bool ControllerData::calibrStart = false

calibrSum

float ControllerData::calibrSum = 0

controller

uint8_t ControllerData::controller

id of the current controller

elbow_cmd

float ControllerData::elbow_cmd = 0

ff_setpoint

float ControllerData::ff_setpoint

feed forwared setpoint, only updated in closed loop controllers

filtered_cmd

float ControllerData::filtered_cmd

filtered command, used for filtering motor commands

filtered_setpoint

float ControllerData::filtered_setpoint = 0

filtered setpoint for the controller

filtered_squelched_supportive_term

float ControllerData::filtered_squelched_supportive_term = 0

low pass on final spring output

filtered_torque_reading

float ControllerData::filtered_torque_reading

filtered torque reading, used for filtering torque signal

fsr_heel_array_elbow

int ControllerData::fsr_heel_array_elbow[50] = {0}

fsr_heel_max_elbow

float ControllerData::fsr_heel_max_elbow = 0

fsr_heel_min_elbow

float ControllerData::fsr_heel_min_elbow = 0

fsr_heel_previous_elbow

float ControllerData::fsr_heel_previous_elbow = 0

fsr_heel_sum_elbow

float ControllerData::fsr_heel_sum_elbow = 0

fsr_min_max_elbow

float ControllerData::fsr_min_max_elbow = 0

fsr_toe_array_elbow

int ControllerData::fsr_toe_array_elbow[50] = {0}

fsr_toe_max_elbow

float ControllerData::fsr_toe_max_elbow = 0

fsr_toe_min_elbow

float ControllerData::fsr_toe_min_elbow = 0

fsr_toe_previous_elbow

float ControllerData::fsr_toe_previous_elbow = 0

fsr_toe_sum_elbow

float ControllerData::fsr_toe_sum_elbow = 0

i_elbow

int ControllerData::i_elbow = 0

iCalibr

uint16_t ControllerData::iCalibr = 0

is_first_fsr_reading_elbow

bool ControllerData::is_first_fsr_reading_elbow = true

is_first_run_elbow

bool ControllerData::is_first_run_elbow = true

isPerturbing

bool ControllerData::isPerturbing = false

joint

config_defs::JointType ControllerData::joint

id of the current joint

kf

float ControllerData::kf = 1

gain for the controller

level_entrance_angle

float ControllerData::level_entrance_angle = 0.0f

level entrance angle for the spring term

max_measured

float ControllerData::max_measured = 0

max measured value

max_setpoint

float ControllerData::max_setpoint = 0

max setpoint value

neutral_angle

float ControllerData::neutral_angle = 0.0f

neutral angle for the spring term

output_limit_elbow

float ControllerData::output_limit_elbow = 5

parameter_set

uint8_t ControllerData::parameter_set

temporary value used to store the parameter set while we are pulling from the sd card.

parameters

float ControllerData::parameters[controller_defs::max_parameters]

Parameter list for the controller see the controller_defs namespace for the specific controller.

PIDMLTPLR

int ControllerData::PIDMLTPLR = 0

prev_calibrate_level_entrance

float ControllerData::prev_calibrate_level_entrance = false

previous value of the calibrate level entrance flag

prev_calibrate_trq_sensor

bool ControllerData::prev_calibrate_trq_sensor = false

previous value of the calibrate torque sensor flag

prev_max_measured

float ControllerData::prev_max_measured = 0

previous max measured value

prev_max_setpoint

float ControllerData::prev_max_setpoint = 0

previous max setpoint value

previous_cmd

float ControllerData::previous_cmd = 0

ptb_frequency

uint8_t ControllerData::ptb_frequency = 0

ptb_fsrGotHigh

bool ControllerData::ptb_fsrGotHigh = false

ptb_iiStep

uint16_t ControllerData::ptb_iiStep = 0

ptb_iStep

uint16_t ControllerData::ptb_iStep = 0

ptb_newIsSwing

bool ControllerData::ptb_newIsSwing = true

ptb_oldIsSwing

bool ControllerData::ptb_oldIsSwing = true

ptb_setpoint

uint16_t ControllerData::ptb_setpoint = 0

ptbApplied

bool ControllerData::ptbApplied = false

ptbDetermined

bool ControllerData::ptbDetermined = false

ptbRandomIsFirstRun

bool ControllerData::ptbRandomIsFirstRun = true

reference_angle

float ControllerData::reference_angle = 0

reference angle for the spring term

reference_angle_offset

float ControllerData::reference_angle_offset = 0

offset for the reference angle

reference_angle_updated

bool ControllerData::reference_angle_updated = false

flag to indicate if the reference angle was updated this step

setpoint

float ControllerData::setpoint

controller setpoint, basically the motor command.

time_current_ptb

float ControllerData::time_current_ptb = 0

time_previous_ptb

float ControllerData::time_previous_ptb = 0

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

• ExoCode/src/ControllerData.h
• ExoCode/src/ControllerData.cpp