actuator.h File Reference

#include "fastcat/jsd/jsd_device_base.h"
#include "fastcat/trap.h"
#include "fastcat/ring_buffer.h"
#include "jsd/jsd_elmo_common_types.h"

Include dependency graph for actuator.h:

Go to the source code of this file.

Classes
class	fastcat::Actuator
struct	fastcat::Actuator::ActuatorParams

Namespaces
namespace	fastcat

Enumerations
enum	fastcat::ActuatorStateMachineState {   fastcat::ACTUATOR_SMS_FAULTED , fastcat::ACTUATOR_SMS_HALTED , fastcat::ACTUATOR_SMS_HOLDING , fastcat::ACTUATOR_SMS_PROF_POS ,   fastcat::ACTUATOR_SMS_PROF_POS_DISENGAGING , fastcat::ACTUATOR_SMS_PROF_VEL , fastcat::ACTUATOR_SMS_PROF_VEL_DISENGAGING , fastcat::ACTUATOR_SMS_PROF_TORQUE ,   fastcat::ACTUATOR_SMS_PROF_TORQUE_DISENGAGING , fastcat::ACTUATOR_SMS_CSP , fastcat::ACTUATOR_SMS_CSV , fastcat::ACTUATOR_SMS_CST ,   fastcat::ACTUATOR_SMS_CAL_MOVE_TO_HARDSTOP , fastcat::ACTUATOR_SMS_CAL_UPDATE_POSITION , fastcat::ACTUATOR_SMS_CAL_AT_HARDSTOP , fastcat::ACTUATOR_SMS_CAL_MOVE_TO_SOFTSTOP }
enum	fastcat::ActuatorType { fastcat::ACTUATOR_TYPE_REVOLUTE , fastcat::ACTUATOR_TYPE_PRISMATIC }
enum	fastcat::ActuatorFastcatFault {   fastcat::ACTUATOR_FASTCAT_FAULT_OKAY = 0 , fastcat::ACTUATOR_FASTCAT_FAULT_CMD_LIMIT_EXCEEDED , fastcat::ACTUATOR_FASTCAT_FAULT_INVALID_CMD_DURING_MOTION , fastcat::ACTUATOR_FASTCAT_FAULT_INVALID_CMD_DURING_CAL ,   fastcat::ACTUATOR_FASTCAT_FAULT_INVALID_CAL_MOTION_RANGE , fastcat::ACTUATOR_FASTCAT_FAULT_STO_ENGAGED , fastcat::ACTUATOR_FASTCAT_FAULT_INVALID_ELMO_SMS_DURING_MOTION , fastcat::ACTUATOR_FASTCAT_FAULT_BRAKE_DISENGAGE_TIMEOUT_EXCEEDED ,   fastcat::ACTUATOR_FASTCAT_FAULT_NO_HARDSTOP_DURING_CAL , fastcat::ACTUATOR_FASTCAT_FAULT_CAL_RESET_TIMEOUT_EXCEEDED , fastcat::ACTUATOR_FASTCAT_FAULT_PROF_POS_CMD_ACK_TIMEOUT_EXCEEDED }
enum	fastcat::ActuatorExplicitInterpolationAlgorithm { fastcat::ACTUATOR_EXPLICIT_INTERPOLATION_ALGORITHM_CUBIC = 0 , fastcat::ACTUATOR_EXPLICIT_INTERPOLATION_ALGORITHM_LINEAR }
enum	fastcat::ActuatorExplicitInterpolationTimestamp { fastcat::ACTUATOR_EXPLICIT_INTERPOLATION_TIMESTAMP_CSP_MESSAGE = 0 , fastcat::ACTUATOR_EXPLICIT_INTERPOLATION_TIMESTAMP_FASTCAT_CLOCK }