MotorData Class Reference

#include <MotorData.h>

Public Member Functions
	MotorData (config_defs::joint_id id, uint8_t *config_to_send)
void	reconfigure (uint8_t *config_to_send)
	reconfigures the the motor data if the configuration changes after constructor called.

Public Attributes
config_defs::joint_id	id
uint8_t	motor_type
float	last_command
float	p
float	v
float	i
float	p_des = 0
float	v_des = 0
float	kp = 0
float	kd = 0
float	t_ff = 0
bool	do_zero
bool	enabled
bool	is_on
bool	is_left
bool	flip_direction
float	gearing

Constructor & Destructor Documentation

MotorData()

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

Member Function Documentation

reconfigure()

void MotorData::reconfigure

(

uint8_t *

config_to_send

)

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

Parameters

configuration

array

Member Data Documentation

do_zero

bool MotorData::do_zero

Flag to zero the position of the motor

enabled

bool MotorData::enabled

Motor enable state

flip_direction

bool MotorData::flip_direction

Should the motor direction be flipped, if true torque commands and position/velocity information will be inverted

gearing

float MotorData::gearing

Motor gearing used to convert motor position, velocity, and torque between the motor and joint frames.

i

float MotorData::i

Read current.

id

config_defs::joint_id MotorData::id

motor id, should be the same as the joint id.

is_left

bool MotorData::is_left

Motor side information 1 if on the left, 0 otherwise

is_on

bool MotorData::is_on

Motor power state

kd

float MotorData::kd = 0

Derivative gain

kp

float MotorData::kp = 0

Proportional gain

last_command

float MotorData::last_command

Last command sent to the motor.

motor_type

uint8_t MotorData::motor_type

Type of motor being used.

p

float MotorData::p

Read position.

p_des

float MotorData::p_des = 0

Desired position, not currently used but available for position control

t_ff

float MotorData::t_ff = 0

Torque command

v

float MotorData::v

Read velocity.

v_des

float MotorData::v_des = 0

Desired velocity, not currently used but available for velocity control

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

• ExoCode/src/MotorData.h
• ExoCode/src/MotorData.cpp