class to store information related to joint. More...

#include <JointData.h>

Collaboration diagram for JointData:

Public Member Functions
	JointData (config_defs::joint_id id, uint8_t *config_to_send)

void	reconfigure (uint8_t *config_to_send)
	reconfigures the the joint data if the configuration changes after constructor called.

Public Attributes
config_defs::joint_id	id

MotorData	motor

ControllerData	controller

float	torque_reading

bool	is_left

bool	flip_direction

bool	is_used

bool	calibrate_torque_sensor

bool	calibrate_angle_sensor

float	position

float	velocity

float	joint_position

float	joint_global_angle

float	prev_joint_position

float	joint_velocity

const float	joint_position_alpha = 0.1f

const float	joint_velocity_alpha = 0.1f

Detailed Description

class to store information related to joint.

Constructor & Destructor Documentation

◆ JointData()

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

Member Function Documentation

◆ reconfigure()

void JointData::reconfigure ( uint8_t * config_to_send )

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

Parameters

configuration array

Here is the call graph for this function:

Member Data Documentation

◆ calibrate_angle_sensor

bool JointData::calibrate_angle_sensor

flag for if we should calibrate the angle sensor.

◆ calibrate_torque_sensor

bool JointData::calibrate_torque_sensor

flag for if we should calibrate the torque sensor.

◆ controller

ControllerData JointData::controller

data for the controller attached to the joint

◆ flip_direction

bool JointData::flip_direction

if true invert the current to the motor and the position/velocity readings

◆ id

config_defs::joint_id JointData::id

id of the joint

◆ is_left

bool JointData::is_left

if the leg is left

◆ is_used

bool JointData::is_used

stores if the joint is used, joint is skipped if it is not used

◆ joint_global_angle

float JointData::joint_global_angle

The angle of the joint relative to the ground

◆ joint_position

float JointData::joint_position

The position of the joint, after any transmission

◆ joint_position_alpha

const float JointData::joint_position_alpha = 0.1f

◆ joint_velocity

float JointData::joint_velocity

◆ joint_velocity_alpha

const float JointData::joint_velocity_alpha = 0.1f

◆ motor

MotorData JointData::motor

data for the motor attached to the joint

◆ position

float JointData::position

The position of the joint, this should be motor position with compensated for gearing.

◆ prev_joint_position

float JointData::prev_joint_position