File sine_torque_control.hpp¶
- Copyright
Copyright (c) 2018-2020, New York University and Max Planck Gesellschaft, License BSD-3-Clause
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namespace blmc_drivers
This namespace is the standard namespace of the package.
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class SineTorqueControl
- #include <sine_torque_control.hpp>
This is a basic PD controller to be used in the demos of this package.
Public Functions
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inline SineTorqueControl(std::vector<SafeMotor_ptr> motor_list)
Construct a new SineTorqueControl object.
- Parameters:
motor_slider_pairs –
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inline ~SineTorqueControl()
Destroy the SineTorqueControl object.
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inline void start_loop()
This method is a helper to start the thread loop.
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void stop_loop()
Stop the control and dump the data.
Private Functions
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void loop()¶
this is a simple control loop which runs at a kilohertz.
it reads the measurement from the analog sensor, in this case the slider. then it scales it and sends it as the current target to the motor.
Private Members
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std::vector<SafeMotor_ptr> motor_list_¶
This is list of motors.
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real_time_tools::RealTimeThread rt_thread_¶
This is the real time thread object.
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bool stop_loop_¶
managing the stopping of the loop
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unsigned memory_buffer_size_¶
memory_buffer_size_ is the max size of the memory buffer.
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std::vector<std::deque<double>> encoders_¶
Encoder data.
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std::vector<std::deque<double>> velocities_¶
Velocity data.
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std::vector<std::deque<double>> currents_¶
current data
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std::vector<std::deque<double>> control_buffer_¶
control_buffer_
Private Static Functions
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static inline THREAD_FUNCTION_RETURN_TYPE loop(void *instance_pointer)¶
this function is just a wrapper around the actual loop function, such that it can be spawned as a posix thread.
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inline SineTorqueControl(std::vector<SafeMotor_ptr> motor_list)
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class SineTorqueControl