CoggingTorqueCompensation Class Reference

#include <cogging_torque_compensation.h>

Public Types
enum class	State { kRecordingNoData , kRecordingInProgress , kRecordingSaving , kRecordingDataExists }

Public Member Functions
	CoggingTorqueCompensation (Cia402Drive &cia402_drive)
	Initialize cogging torque recording and collect relevant system information.
MotionMasterError	enable (bool enable)
	Enable/disable the cogging torque compensation.
MotionMasterError	record_cogging_torque (bool auto_config)
	Record the cogging torque with or without doing the automatic configuration beforehand.

Member Enumeration Documentation

State

enum class CoggingTorqueCompensation::State

strong

Enumerator
kRecordingNoData
kRecordingInProgress
kRecordingSaving
kRecordingDataExists

Constructor & Destructor Documentation

CoggingTorqueCompensation()

CoggingTorqueCompensation::CoggingTorqueCompensation ( Cia402Drive & cia402_drive )

explicit

Initialize cogging torque recording and collect relevant system information.

Parameters

cia402_drive

Exceptions

MotionMasterError

Member Function Documentation

enable()

MotionMasterError CoggingTorqueCompensation::enable

(

bool

enable

)

Enable/disable the cogging torque compensation.

Parameters

enable

enable/disable

Returns

error if any

Note

The CTC enable parameter can be dynamically changed from firmwares v4.0.3 and v4.1.0, so there is no need for reloading the configuration for it to take effect

record_cogging_torque()

MotionMasterError CoggingTorqueCompensation::record_cogging_torque

(

bool

auto_config

)

Record the cogging torque with or without doing the automatic configuration beforehand.

Attention

Automatic configuration also includes the iterative sharpening (auto-tuning)

Parameters

auto_config

whether to do the automatic configuration or not

Returns

error if any

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

• apps/motion_master/cogging_torque_compensation.h
• apps/motion_master/cogging_torque_compensation.cc