#include <util.h>

Public Attributes
double	duration_seconds = 5.0

uint16_t	torque_amplitude = 500

double	start_frequency = 3.0

double	end_frequency = 60.0

double	cutoff_frequency = 30.0

ControllerType	controller_type = ControllerType::kPpi

double	settling_time = 0.2

double	position_damping = 2.0

int16_t	alpha_mult = 1

uint8_t	order = 4

float	velocity_loop_bandwidth = 5.0f

float	velocity_damping = 0.7f

double	warn_torque_const = 3.0

double	lb = 2.0

double	ub = 314.0

Member Data Documentation

◆ alpha_mult

int16_t TuningParametersClass::alpha_mult = 1

◆ controller_type

ControllerType TuningParametersClass::controller_type = ControllerType::kPpi

◆ cutoff_frequency

double TuningParametersClass::cutoff_frequency = 30.0

◆ duration_seconds

double TuningParametersClass::duration_seconds = 5.0

◆ end_frequency

double TuningParametersClass::end_frequency = 60.0

◆ lb

double TuningParametersClass::lb = 2.0

◆ order

uint8_t TuningParametersClass::order = 4

◆ position_damping

double TuningParametersClass::position_damping = 2.0

◆ settling_time

double TuningParametersClass::settling_time = 0.2

◆ start_frequency

double TuningParametersClass::start_frequency = 3.0

◆ torque_amplitude

uint16_t TuningParametersClass::torque_amplitude = 500

◆ ub

double TuningParametersClass::ub = 314.0

◆ velocity_damping

float TuningParametersClass::velocity_damping = 0.7f

◆ velocity_loop_bandwidth

float TuningParametersClass::velocity_loop_bandwidth = 5.0f

◆ warn_torque_const

double TuningParametersClass::warn_torque_const = 3.0

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

apps/motion_master/util.h

Public Attributes