A basic motor type. Handles PID, torque, and locked velocity modes. More...

#include <Command.h>

Public Types
enum	{ OFF, TORQUE, PID, LOCKED_VELOCITY }

Public Member Functions
void	SetOff ()

void	SetPID (Real qdes, Real dqdes=Zero, Real iterm=Zero)

void	SetTorque (Real t)

void	SetLockedVelocity (Real vel, Real torqueMax)

Real	GetPIDTorque (Real q, Real dq) const

void	IntegratePID (Real q, Real dt)

Detailed Description

A basic motor type. Handles PID, torque, and locked velocity modes.

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

Public Types