class ActuatorFeedback

Member values

Member name	Data type	Description
command_id	uint32	Command ID (first 2 bytes: device ID, last 2 bytes: sequence number)
status_flags	uint32	Status flags
jitter_comm	uint32	Jitter from the communication (in microseconds)
position	float32	Position of the actuator (in degrees)
velocity	float32	Velocity of the actuator (in degrees per second)
torque	float32	Torque of the actuator (in Newton * meters)
current_motor	float32	Current of the motor (in Amperes)
voltage	float32	Voltage of the main board (in Volts)
temperature_motor	float32	Motor temperature (maximum of the three (3) phase temperatures in °C)
temperature_core	float32	Microcontroller temperature (in degrees Celsius)
fault_bank_a	uint32	Fault bank A
fault_bank_b	uint32	Fault bank B
warning_bank_a	uint32	Warning bank A
warning_bank_b	uint32	Warning bank B

Member functions

Function name	Return type	Input type	Description
command_id()	uint32	void	Returns the current value of command_id. If the command_id is not set, returns 0.
set_command_id()	void	uint32	Sets the value of command_id. After calling this, command_id() will return value.
clear_command_id()	void	void	Clears the value of command_id. After calling this, command_id() will return 0.
status_flags()	uint32	void	Returns the current value of status_flags. If the status_flags is not set, returns 0.
set_status_flags()	void	uint32	Sets the value of status_flags. After calling this, status_flags() will return value.
clear_status_flags()	void	void	Clears the value of status_flags. After calling this, status_flags() will return 0.
jitter_comm()	uint32	void	Returns the current value of jitter_comm. If the jitter_comm is not set, returns 0.
set_jitter_comm()	void	uint32	Sets the value of jitter_comm. After calling this, jitter_comm() will return value.
clear_jitter_comm()	void	void	Clears the value of jitter_comm. After calling this, jitter_comm() will return 0.
position()	float32	void	Returns the current value of position. If the position is not set, returns 0.
set_position()	void	float32	Sets the value of position. After calling this, position() will return value.
clear_position()	void	void	Clears the value of position. After calling this, position() will return 0.
velocity()	float32	void	Returns the current value of velocity. If the velocity is not set, returns 0.
set_velocity()	void	float32	Sets the value of velocity. After calling this, velocity() will return value.
clear_velocity()	void	void	Clears the value of velocity. After calling this, velocity() will return 0.
torque()	float32	void	Returns the current value of torque. If the torque is not set, returns 0.
set_torque()	void	float32	Sets the value of torque. After calling this, torque() will return value.
clear_torque()	void	void	Clears the value of torque. After calling this, torque() will return 0.
current_motor()	float32	void	Returns the current value of current_motor. If the current_motor is not set, returns 0.
set_current_motor()	void	float32	Sets the value of current_motor. After calling this, current_motor() will return value.
clear_current_motor()	void	void	Clears the value of current_motor. After calling this, current_motor() will return 0.
voltage()	float32	void	Returns the current value of voltage. If the voltage is not set, returns 0.
set_voltage()	void	float32	Sets the value of voltage. After calling this, voltage() will return value.
clear_voltage()	void	void	Clears the value of voltage. After calling this, voltage() will return 0.
temperature_motor()	float32	void	Returns the current value of temperature_motor. If the temperature_motor is not set, returns 0.
set_temperature_motor()	void	float32	Sets the value of temperature_motor. After calling this, temperature_motor() will return value.
clear_temperature_motor()	void	void	Clears the value of temperature_motor. After calling this, temperature_motor() will return 0.
temperature_core()	float32	void	Returns the current value of temperature_core. If the temperature_core is not set, returns 0.
set_temperature_core()	void	float32	Sets the value of temperature_core. After calling this, temperature_core() will return value.
clear_temperature_core()	void	void	Clears the value of temperature_core. After calling this, temperature_core() will return 0.
fault_bank_a()	uint32	void	Returns the current value of fault_bank_a. If the fault_bank_a is not set, returns 0.
set_fault_bank_a()	void	uint32	Sets the value of fault_bank_a. After calling this, fault_bank_a() will return value.
clear_fault_bank_a()	void	void	Clears the value of fault_bank_a. After calling this, fault_bank_a() will return 0.
fault_bank_b()	uint32	void	Returns the current value of fault_bank_b. If the fault_bank_b is not set, returns 0.
set_fault_bank_b()	void	uint32	Sets the value of fault_bank_b. After calling this, fault_bank_b() will return value.
clear_fault_bank_b()	void	void	Clears the value of fault_bank_b. After calling this, fault_bank_b() will return 0.
warning_bank_a()	uint32	void	Returns the current value of warning_bank_a. If the warning_bank_a is not set, returns 0.
set_warning_bank_a()	void	uint32	Sets the value of warning_bank_a. After calling this, warning_bank_a() will return value.
clear_warning_bank_a()	void	void	Clears the value of warning_bank_a. After calling this, warning_bank_a() will return 0.
warning_bank_b()	uint32	void	Returns the current value of warning_bank_b. If the warning_bank_b is not set, returns 0.
set_warning_bank_b()	void	uint32	Sets the value of warning_bank_b. After calling this, warning_bank_b() will return value.
clear_warning_bank_b()	void	void	Clears the value of warning_bank_b. After calling this, warning_bank_b() will return 0.

Parent topic: BaseCyclic (C++)