Class Config::AxisParam

• Defined in File CoreMotionApi.h

Nested Relationships

This class is a nested type of Class Config.

Class Documentation

class AxisParam

This class contains parameters specific to an axis. See Axis Parameters for a description of each parameter.

Public Functions

AxisParam()

Public Members

AxisCommandMode::T axisCommandMode[constants::maxAxes]

See Axis Command Mode.

double gearRatioNumerator[constants::maxAxes]

See Gear Ratio Numerator.

double gearRatioDenominator[constants::maxAxes]

See Gear Ratio Denominator.

bool singleTurnMode[constants::maxAxes]

See Single Turn Mode.

unsigned int singleTurnEncoderCount[constants::maxAxes]

See Single Turn Encoder Count.

double maxTrqLimit[constants::maxAxes]

See Max Trq Limit.

double negativeTrqLimit[constants::maxAxes]

See Negative Trq Limit.

double positiveTrqLimit[constants::maxAxes]

See Positive Trq Limit.

double axisUnit[constants::maxAxes]

See Axis Unit.

double velocityFeedforwardGain[constants::maxAxes]

See Velocity Feedforward Gain.

char axisPolarity[constants::maxAxes]

See Axis Polarity.

double maxMotorSpeed[constants::maxAxes]

See Max Motor Speed.

bool absoluteEncoderMode[constants::maxAxes]

See Absolute Encoder Mode.

double absoluteEncoderHomeOffset[constants::maxAxes]

See Absolute Encoder Home Offset.

bool encoderRangeMode[constants::maxAxes]

See Encoder Range Mode.

int encoderRangeLow[constants::maxAxes]

See Encoder Range Low.

int encoderRangeHigh[constants::maxAxes]

See Encoder Range High.