1 #ifndef CONTROL_MOTOR_COMMAND_H 2 #define CONTROL_MOTOR_COMMAND_H 5 #include <KrisLibrary/math/vector.h> 6 #include <KrisLibrary/math/math.h> 19 enum { OFF, TORQUE, PID, LOCKED_VELOCITY };
23 void SetPID(Real qdes,Real dqdes=Zero,Real iterm=Zero);
24 void SetTorque(Real t);
25 void SetLockedVelocity(Real vel,Real torqueMax);
26 Real GetPIDTorque(Real q,Real dq)
const;
27 void IntegratePID(Real q,Real dt);
31 bool revolute,measureAngleAbsolute;
47 void SetTorque(
const Vector& torques);
48 Real GetTorque(
int i,
double q,
double dq);
50 void ResetPIDIntegrals();
52 bool Write(File& f)
const;
54 vector<ActuatorCommand> actuators;
A collection of basic motor types.
Definition: Command.h:45
A basic motor type. Handles PID, torque, and locked velocity modes.
Definition: Command.h:17
Definition: ContactDistance.h:6