motor_controller::PositionVelocityTorqueCascade Class Reference

#include <PositionVelocityTorqueCascade.hpp>

Public Member Functions
	PositionVelocityTorqueCascade ()
	PositionVelocityTorqueCascade (double _Ts, double _Kpp, double _Kpv, double _Kiv, double _Kpt, double _Kit, double _Kalp, double _Ktv, double _Ktt, double _Kvff=0, double _Kaff=0, double _YMin=0, double _YMax=0)
	~PositionVelocityTorqueCascade ()
void	setSamplingTime (double _Ts)
void	setGains (double _Kpp, double _Kpv, double _Kiv, double _Kpt, double _Kit)
void	setGains ()
void	setFeedForwardGain (double _Kvff=0.0, double _Kaff=0.0)
void	setVelSmoothingGain (double _Kalp)
void	setOutputLimits (double _YMin, double _YMax)
void	setIntegratorWindupCoeffs (double _Ktv, double _Ktt)
void	setPositionController (bool _status)
void	setVelocityController (bool _status)
double	getSmoothenedVelocity ()
double	getVelocity ()
double	getVelocityRef ()
double	getTorqueRef ()
void	reset ()
double	update (double _posMeasured, double _posRef, double _torMeasured, double _velFF=0.0, double _accFF=0.0)
void	printCoefficients ()

Constructor & Destructor Documentation

PositionVelocityTorqueCascade() [1/2]

PositionVelocityTorqueCascade::PositionVelocityTorqueCascade

(

)

PositionVelocityTorqueCascade() [2/2]

PositionVelocityTorqueCascade::PositionVelocityTorqueCascade	(	double	_Ts,
		double	_Kpp,
		double	_Kpv,
		double	_Kiv,
		double	_Kpt,
		double	_Kit,
		double	_Kalp,
		double	_Ktv,
		double	_Ktt,
		double	_Kvff = 0,
		double	_Kaff = 0,
		double	_YMin = 0,
		double	_YMax = 0
	)

~PositionVelocityTorqueCascade()

PositionVelocityTorqueCascade::~PositionVelocityTorqueCascade

(

)

Member Function Documentation

getSmoothenedVelocity()

double motor_controller::PositionVelocityTorqueCascade::getSmoothenedVelocity ( )

inline

getTorqueRef()

double motor_controller::PositionVelocityTorqueCascade::getTorqueRef ( )

inline

getVelocity()

double motor_controller::PositionVelocityTorqueCascade::getVelocity ( )

inline

getVelocityRef()

double motor_controller::PositionVelocityTorqueCascade::getVelocityRef ( )

inline

printCoefficients()

void PositionVelocityTorqueCascade::printCoefficients

(

)

reset()

void PositionVelocityTorqueCascade::reset

(

)

setFeedForwardGain()

void PositionVelocityTorqueCascade::setFeedForwardGain	(	double	_Kvff = 0.0,
		double	_Kaff = 0.0
	)

setGains() [1/2]

void PositionVelocityTorqueCascade::setGains	(	double	_Kpp,
		double	_Kpv,
		double	_Kiv,
		double	_Kpt,
		double	_Kit
	)

setGains() [2/2]

void PositionVelocityTorqueCascade::setGains

(

)

setIntegratorWindupCoeffs()

void PositionVelocityTorqueCascade::setIntegratorWindupCoeffs	(	double	_Ktv,
		double	_Ktt
	)

setOutputLimits()

void PositionVelocityTorqueCascade::setOutputLimits	(	double	_YMin,
		double	_YMax
	)

setPositionController()

void motor_controller::PositionVelocityTorqueCascade::setPositionController ( bool  _status )

inline

setSamplingTime()

void PositionVelocityTorqueCascade::setSamplingTime

(

double

_Ts

)

setVelocityController()

void motor_controller::PositionVelocityTorqueCascade::setVelocityController ( bool  _status )

inline

setVelSmoothingGain()

void PositionVelocityTorqueCascade::setVelSmoothingGain

(

double

_Kalp

)

update()

double PositionVelocityTorqueCascade::update	(	double	_posMeasured,
		double	_posRef,
		double	_torMeasured,
		double	_velFF = 0.0,
		double	_accFF = 0.0
	)

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

• /build/rock-master-18.09-control-motor-controller-0.20160617/src/PositionVelocityTorqueCascade.hpp
• /build/rock-master-18.09-control-motor-controller-0.20160617/src/PositionVelocityTorqueCascade.cpp