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. More...

MotionMasterError	enable (bool enable)
	Enable/disable the cogging torque compensation. More...

MotionMasterError	record_cogging_torque (bool auto_config)
	Record the cogging torque with or without doing the automatic configuration beforehand. More...

Member Enumeration Documentation

◆ State

strong

CoggingTorqueCompensation::CoggingTorqueCompensation ( Cia402Drive & cia402_drive )

explicit

Initialize cogging torque recording and collect relevant system information.

Parameters

cia402_drive

Exceptions

MotionMasterError

MotionMasterError CoggingTorqueCompensation::enable ( bool enable )

Enable/disable the cogging torque compensation.

Parameters

enable enable/disable

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

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

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