#include <util.h>

Public Member Functions
nlohmann::json	to_json ()

Public Attributes
uint8_t	vel_lp_type = 1

uint32_t	vel_lp_fc = 300

uint8_t	pos_lp_type = 1

uint32_t	pos_lp_fc = 300

bool	notch_en = true

uint16_t	notch_fw = 10

uint16_t	notch_fc = 1000

int16_t	vel_ff_gain = 0

uint16_t	vel_ff_fc = 1000

int32_t	L = 200

int32_t	R = 300000

uint32_t	vdc = 48000

double	current_ratio = 16384

double	tc_kp = 2500

double	tc_ki = 40000

uint8_t	switch_F = 0

uint16_t	tc_st = 1000

uint16_t	tc_damping = 2000

std::string	software_version = "v4.4.1"

unsigned int	rated_torque

double	max_vel_noise

Member Function Documentation

◆ to_json()

nlohmann::json AutoTuningDriveConfigurationClass::to_json ( )

inline

Member Data Documentation

◆ current_ratio

double AutoTuningDriveConfigurationClass::current_ratio = 16384

◆ L

int32_t AutoTuningDriveConfigurationClass::L = 200

◆ max_vel_noise

double AutoTuningDriveConfigurationClass::max_vel_noise

◆ notch_en

bool AutoTuningDriveConfigurationClass::notch_en = true

◆ notch_fc

uint16_t AutoTuningDriveConfigurationClass::notch_fc = 1000

◆ notch_fw

uint16_t AutoTuningDriveConfigurationClass::notch_fw = 10

◆ pos_lp_fc

uint32_t AutoTuningDriveConfigurationClass::pos_lp_fc = 300

◆ pos_lp_type

uint8_t AutoTuningDriveConfigurationClass::pos_lp_type = 1

◆ R

int32_t AutoTuningDriveConfigurationClass::R = 300000

◆ rated_torque

unsigned int AutoTuningDriveConfigurationClass::rated_torque

◆ software_version

std::string AutoTuningDriveConfigurationClass::software_version = "v4.4.1"

◆ switch_F

uint8_t AutoTuningDriveConfigurationClass::switch_F = 0

◆ tc_damping

uint16_t AutoTuningDriveConfigurationClass::tc_damping = 2000

◆ tc_ki

double AutoTuningDriveConfigurationClass::tc_ki = 40000

◆ tc_kp

double AutoTuningDriveConfigurationClass::tc_kp = 2500

◆ tc_st

uint16_t AutoTuningDriveConfigurationClass::tc_st = 1000

◆ vdc

uint32_t AutoTuningDriveConfigurationClass::vdc = 48000

◆ vel_ff_fc

uint16_t AutoTuningDriveConfigurationClass::vel_ff_fc = 1000

◆ vel_ff_gain

int16_t AutoTuningDriveConfigurationClass::vel_ff_gain = 0

◆ vel_lp_fc

uint32_t AutoTuningDriveConfigurationClass::vel_lp_fc = 300

◆ vel_lp_type

uint8_t AutoTuningDriveConfigurationClass::vel_lp_type = 1

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

apps/motion_master/util.h

Public Member Functions

Public Attributes