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::PositionVelocityTorqueCascade ( )

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 ( )

Member Function Documentation

double motor_controller::PositionVelocityTorqueCascade::getSmoothenedVelocity ( )

inline

double motor_controller::PositionVelocityTorqueCascade::getTorqueRef ( )

inline

double motor_controller::PositionVelocityTorqueCascade::getVelocity ( )

inline

double motor_controller::PositionVelocityTorqueCascade::getVelocityRef ( )

inline

void PositionVelocityTorqueCascade::printCoefficients ( )

void PositionVelocityTorqueCascade::reset ( )

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

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

void PositionVelocityTorqueCascade::setGains ( )

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

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

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

inline

void PositionVelocityTorqueCascade::setSamplingTime ( double _Ts )

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

inline

void PositionVelocityTorqueCascade::setVelSmoothingGain ( double _Kalp )

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

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