ethercatcpp::SensoJoint::Options Struct Reference

#include <sensojoint.h>

Public Member Functions
Options &	offsets (double pos_offset, double torque_offset)
Options &	use_haptics ()
Options &	inertia (double output)
Options &	endstops (double stiffness, double damping)
Options &	max (double motor_torque, double motor_vel)
Options &	profile (double velocity, double accel=0., double decel=0.)
Options &	torque_profile (double slope)
Options &	position_reached (double window, double time)
Options &	velocity_reached (double window, double time)
Options &	standstill (double threshold=0.001, double time=0.001)
Options &	controlled_outputs (uint8_t outputs, uint8_t init_value=0, uint8_t end_value=0)
Options &	read_inputs (uint8_t inputs)

Public Attributes
double	control_period_ {0.}
double	initial_adjusted_position {0.}
double	min_target_position {0.}
double	max_target_position {0.}
double	zero_pos_offset {0.}
double	zero_torque_offset {0.}
double	max_motor_torque {0.}
double	max_motor_velocity {0.}
double	output_inertia {0.}
double	profile_velocity {0.}
double	profile_acceleration {0.}
double	profile_deceleration {0.}
double	position_window {0.}
double	position_window_time {0.}
double	velocity_threshold {0.}
double	velocity_threshold_time {0.}
double	velocity_window {0.}
double	velocity_window_time {0.}
double	torque_slope {0.}
EndStop	endstop_specs
bool	enable_haptics {false}
uint8_t	controlled_digital_outputs {0}
uint8_t	digital_outputs_init_value {0}
uint8_t	digital_outputs_end_value {0}
uint8_t	read_digital_inputs {0}

Member Function Documentation

controlled_outputs()

Options& ethercatcpp::SensoJoint::Options::controlled_outputs	(	uint8_t	outputs,
		uint8_t	init_value = 0,
		uint8_t	end_value = 0
	)

endstops()

Options& ethercatcpp::SensoJoint::Options::endstops	(	double	stiffness,
		double	damping
	)

inertia()

Options& ethercatcpp::SensoJoint::Options::inertia

(

double

output

)

max()

Options& ethercatcpp::SensoJoint::Options::max	(	double	motor_torque,
		double	motor_vel
	)

offsets()

Options& ethercatcpp::SensoJoint::Options::offsets	(	double	pos_offset,
		double	torque_offset
	)

position_reached()

Options& ethercatcpp::SensoJoint::Options::position_reached	(	double	window,
		double	time
	)

profile()

Options& ethercatcpp::SensoJoint::Options::profile	(	double	velocity,
		double	accel = 0.,
		double	decel = 0.
	)

read_inputs()

Options& ethercatcpp::SensoJoint::Options::read_inputs

(

uint8_t

inputs

)

standstill()

Options& ethercatcpp::SensoJoint::Options::standstill	(	double	threshold = 0.001,
		double	time = 0.001
	)

torque_profile()

Options& ethercatcpp::SensoJoint::Options::torque_profile

(

double

slope

)

use_haptics()

Options& ethercatcpp::SensoJoint::Options::use_haptics

(

)

velocity_reached()

Options& ethercatcpp::SensoJoint::Options::velocity_reached	(	double	window,
		double	time
	)

Member Data Documentation

control_period_

double ethercatcpp::SensoJoint::Options::control_period_ {0.}

controlled_digital_outputs

uint8_t ethercatcpp::SensoJoint::Options::controlled_digital_outputs {0}

digital_outputs_end_value

uint8_t ethercatcpp::SensoJoint::Options::digital_outputs_end_value {0}

digital_outputs_init_value

uint8_t ethercatcpp::SensoJoint::Options::digital_outputs_init_value {0}

enable_haptics

bool ethercatcpp::SensoJoint::Options::enable_haptics {false}

endstop_specs

EndStop ethercatcpp::SensoJoint::Options::endstop_specs

initial_adjusted_position

double ethercatcpp::SensoJoint::Options::initial_adjusted_position {0.}

max_motor_torque

double ethercatcpp::SensoJoint::Options::max_motor_torque {0.}

max_motor_velocity

double ethercatcpp::SensoJoint::Options::max_motor_velocity {0.}

max_target_position

double ethercatcpp::SensoJoint::Options::max_target_position {0.}

min_target_position

double ethercatcpp::SensoJoint::Options::min_target_position {0.}

output_inertia

double ethercatcpp::SensoJoint::Options::output_inertia {0.}

position_window

double ethercatcpp::SensoJoint::Options::position_window {0.}

position_window_time

double ethercatcpp::SensoJoint::Options::position_window_time {0.}

profile_acceleration

double ethercatcpp::SensoJoint::Options::profile_acceleration {0.}

profile_deceleration

double ethercatcpp::SensoJoint::Options::profile_deceleration {0.}

profile_velocity

double ethercatcpp::SensoJoint::Options::profile_velocity {0.}

read_digital_inputs

uint8_t ethercatcpp::SensoJoint::Options::read_digital_inputs {0}

torque_slope

double ethercatcpp::SensoJoint::Options::torque_slope {0.}

velocity_threshold

double ethercatcpp::SensoJoint::Options::velocity_threshold {0.}

velocity_threshold_time

double ethercatcpp::SensoJoint::Options::velocity_threshold_time {0.}

velocity_window

double ethercatcpp::SensoJoint::Options::velocity_window {0.}

velocity_window_time

double ethercatcpp::SensoJoint::Options::velocity_window_time {0.}

zero_pos_offset

double ethercatcpp::SensoJoint::Options::zero_pos_offset {0.}

zero_torque_offset

double ethercatcpp::SensoJoint::Options::zero_torque_offset {0.}

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

• sensojoint.h