Class Settings::Actuator

Nested Relationships

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

Class Documentation

class Actuator

Actuator-specific settings, such as controller gains.

Public Functions

inline Actuator(const HebiInfoRef &internal)
inline const InfoGains &positionGains() const

Controller gains for the position PID loop.

inline const InfoGains &velocityGains() const

Controller gains for the velocity PID loop.

inline const InfoGains &effortGains() const

Controller gains for the effort PID loop.

inline const FloatField &springConstant() const

The spring constant of the module.

inline const FloatField &velocityLimitMin() const

The firmware safety limit for the minimum allowed velocity.

inline const FloatField &velocityLimitMax() const

The firmware safety limit for the maximum allowed velocity.

inline const FloatField &effortLimitMin() const

The firmware safety limit for the minimum allowed effort.

inline const FloatField &effortLimitMax() const

The firmware safety limit for the maximum allowed effort.

inline const HighResAngleField &positionLimitMin() const

The firmware safety limit for the minimum allowed position.

inline const HighResAngleField &positionLimitMax() const

The firmware safety limit for the maximum allowed position.

inline const EnumField<ControlStrategy> &controlStrategy() const

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

inline const EnumField<MstopStrategy> &mstopStrategy() const

The motion stop strategy for the actuator.

inline const EnumField<PositionLimitStrategy> &minPositionLimitStrategy() const

The position limit strategy (at the minimum position) for the actuator.

inline const EnumField<PositionLimitStrategy> &maxPositionLimitStrategy() const

The position limit strategy (at the maximum position) for the actuator.