Struct blmc_drivers::HomingState

struct HomingState

State variables required for the homing.

Public Members

int joint_id = 0

Id of the joint. Just used for debug prints.

double search_distance_limit_rad = 0.0

Max. distance to move while searching the encoder index.

double home_offset_rad = 0.0

Offset from home position to zero position.

double profile_step_size_rad = 0.0

Step size for the position profile.

long int last_encoder_index_time_index = 0

Timestamp from when the encoder index was seen the last time.

uint32_t step_count = 0

Number of profile steps already taken.

double target_position_rad = 0.0

Current target position of the position profile.

HomingReturnCode status = HomingReturnCode::NOT_INITIALIZED

Current status of the homing procedure.

double start_position

Position at which homing is started.

double end_position

Position at which homing is ended (before resetting position).

This is only set when status is SUCCEEDED. Together with start_position it can be used to determine the distance the joint travelled during the homing procedure (e.g. useful for home offset calibration).