class ControlLoopParameters

Member values

Member name	Data type	Description
loop_selection	uint32	ControlLoopSelection enum
error_saturation	float32	Error saturation value
output_saturation	float32	Output saturation value
kAz	float32	KAz (index 0 to 4): denominator gains A1 to A5
kBz	float32	KBz (index 0 to 5): numerator gains B0 to B5
error_dead_band	float32	Error dead band value

Member functions

Function name	Return type	Input type	Description
loop_selection() const	uint32	void	Returns the current value of loop_selection. If the loop_selection is not set, returns 0.
set_loop_selection()	void	uint32	Sets the value of loop_selection. After calling this, loop_selection() will return value.
clear_loop_selection()	void	void	Clears the value of loop_selection. After calling this, loop_selection() will return the empty string/empty bytes.
error_saturation()	float32	void	Returns the current value of error_saturation. If the error_saturation is not set, returns 0.
set_error_saturation()	void	float32	Sets the value of error_saturation. After calling this, error_saturation() will return value.
clear_error_saturation()	void	void	Clears the value of error_saturation. After calling this, error_saturation() will return 0.
output_saturation()	float32	void	Returns the current value of output_saturation. If the output_saturation is not set, returns 0.
set_output_saturation()	void	float32	Sets the value of output_saturation. After calling this, output_saturation() will return value.
clear_output_saturation()	void	void	Clears the value of output_saturation. After calling this, output_saturation() will return 0.
kAz_size() const	int	void	Returns the number of elements currently in the field.
kAz() const	int	int index	Returns the element at the given zero-based index. Calling this method with index outside of [0, kAz_size()) yields undefined behavior.
set_kAz()	void	(int index, int32 value)	Sets the value of the element at the given zero-based index.
add_kAz()	void	(int32 value)	Appends a new element to the field with the given value.
clear_kAz()	void	void	Removes all elements from the field. After calling this, kAz_size() will return zero.
kAz() const	const RepeatedField<int32>&	void	Returns the underlying RepeatedField that stores the field's elements. This container class provides STL-like iterators and other methods.
mutable_kAz()	RepeatedField<int32>*	void	Returns a pointer to the underlying mutable RepeatedField that stores the field's elements. This container class provides STL-like iterators and other methods.
kBz_size() const	int	void	Returns the number of elements currently in the field.
kBz() const	int	int index	Returns the element at the given zero-based index. Calling this method with index outside of [0, kBz_size()) yields undefined behavior.
set_kBz()	void	(int index, int32 value)	Sets the value of the element at the given zero-based index.
add_kBz()	void	(int32 value)	Appends a new element to the field with the given value.
clear_kBz()	void	void	Removes all elements from the field. After calling this, kBz_size() will return zero.
kBz() const	const RepeatedField<int32>&	void	Returns the underlying RepeatedField that stores the field's elements. This container class provides STL-like iterators and other methods.
mutable_kBz()	RepeatedField<int32>*	void	Returns a pointer to the underlying mutable RepeatedField that stores the field's elements. This container class provides STL-like iterators and other methods.
error_dead_band()	float32	void	Returns the current value of error_dead_band. If the error_dead_band is not set, returns 0.
set_error_dead_band()	void	float32	Sets the value of error_dead_band. After calling this, error_dead_band() will return value.
clear_error_dead_band()	void	void	Clears the value of error_dead_band. After calling this, error_dead_band() will return 0.

Parent topic: ActuatorConfig (C++)