#include "actuator.h"

Public Attributes
std::string	actuator_type_str

std::string	ctrl_gs_mode_str

double	gear_ratio = 1.0

double	counts_per_rev = 1.0

double	max_speed_eu_per_sec = 0.0

double	max_accel_eu_per_sec2 = 0.0

double	over_speed_multiplier = 1.0

double	vel_tracking_error_eu_per_sec = 0.0

double	pos_tracking_error_eu = 0.0

double	peak_current_limit_amps = 0.0

double	peak_current_time_sec = 0.0

double	continuous_current_limit_amps = 0.0

double	torque_slope_amps_per_sec = 0.0

double	low_pos_cal_limit_eu = 0.0

double	low_pos_cmd_limit_eu = 0.0

double	high_pos_cmd_limit_eu = 0.0

double	high_pos_cal_limit_eu = 0.0

double	holding_duration_sec = 0.0

double	elmo_brake_engage_msec = 0.0

double	elmo_brake_disengage_msec = 0.0

int64_t	elmo_crc = 0

double	elmo_drive_max_cur_limit_amps = 0.0

double	smooth_factor = 0.0

double	torque_constant = 0.0

double	winding_resistance = 0.0

double	brake_power = 0.0

double	motor_encoder_gear_ratio = 0.0

bool	actuator_absolute_encoder = false

bool	prof_pos_hold = false

Member Data Documentation

◆ actuator_absolute_encoder

bool fastcat::Actuator::ActuatorParams::actuator_absolute_encoder = false

◆ actuator_type_str

std::string fastcat::Actuator::ActuatorParams::actuator_type_str

◆ brake_power

double fastcat::Actuator::ActuatorParams::brake_power = 0.0

◆ continuous_current_limit_amps

double fastcat::Actuator::ActuatorParams::continuous_current_limit_amps = 0.0

◆ counts_per_rev

double fastcat::Actuator::ActuatorParams::counts_per_rev = 1.0

◆ ctrl_gs_mode_str

std::string fastcat::Actuator::ActuatorParams::ctrl_gs_mode_str

◆ elmo_brake_disengage_msec

double fastcat::Actuator::ActuatorParams::elmo_brake_disengage_msec = 0.0

◆ elmo_brake_engage_msec

double fastcat::Actuator::ActuatorParams::elmo_brake_engage_msec = 0.0

◆ elmo_crc

int64_t fastcat::Actuator::ActuatorParams::elmo_crc = 0

◆ elmo_drive_max_cur_limit_amps

double fastcat::Actuator::ActuatorParams::elmo_drive_max_cur_limit_amps = 0.0

◆ gear_ratio

double fastcat::Actuator::ActuatorParams::gear_ratio = 1.0

◆ high_pos_cal_limit_eu

double fastcat::Actuator::ActuatorParams::high_pos_cal_limit_eu = 0.0

◆ high_pos_cmd_limit_eu

double fastcat::Actuator::ActuatorParams::high_pos_cmd_limit_eu = 0.0

◆ holding_duration_sec

double fastcat::Actuator::ActuatorParams::holding_duration_sec = 0.0

◆ low_pos_cal_limit_eu

double fastcat::Actuator::ActuatorParams::low_pos_cal_limit_eu = 0.0

◆ low_pos_cmd_limit_eu

double fastcat::Actuator::ActuatorParams::low_pos_cmd_limit_eu = 0.0

◆ max_accel_eu_per_sec2

double fastcat::Actuator::ActuatorParams::max_accel_eu_per_sec2 = 0.0

◆ max_speed_eu_per_sec

double fastcat::Actuator::ActuatorParams::max_speed_eu_per_sec = 0.0

◆ motor_encoder_gear_ratio

double fastcat::Actuator::ActuatorParams::motor_encoder_gear_ratio = 0.0

◆ over_speed_multiplier

double fastcat::Actuator::ActuatorParams::over_speed_multiplier = 1.0

◆ peak_current_limit_amps

double fastcat::Actuator::ActuatorParams::peak_current_limit_amps = 0.0

◆ peak_current_time_sec

double fastcat::Actuator::ActuatorParams::peak_current_time_sec = 0.0

◆ pos_tracking_error_eu

double fastcat::Actuator::ActuatorParams::pos_tracking_error_eu = 0.0

◆ prof_pos_hold

bool fastcat::Actuator::ActuatorParams::prof_pos_hold = false

◆ smooth_factor

double fastcat::Actuator::ActuatorParams::smooth_factor = 0.0

◆ torque_constant

double fastcat::Actuator::ActuatorParams::torque_constant = 0.0

◆ torque_slope_amps_per_sec

double fastcat::Actuator::ActuatorParams::torque_slope_amps_per_sec = 0.0

◆ vel_tracking_error_eu_per_sec

double fastcat::Actuator::ActuatorParams::vel_tracking_error_eu_per_sec = 0.0

◆ winding_resistance

double fastcat::Actuator::ActuatorParams::winding_resistance = 0.0

The documentation for this struct was generated from the following file:

src/jsd/actuator.h

Public Attributes