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Koduino
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Coordinates a pair of motors (for instance for sagittal plane behaviors) More...
#include <SagittalPair.h>
Coordinates a pair of motors (for instance for sagittal plane behaviors)
i=0 is the MEAN coordinate, i=1 is the DIFF
Additional Inherited Members | |
 Public Member Functions inherited from AbstractMotor< 2 > | |
| virtual void | physicalToAbstract (const float in[N], float out[N])=0 |
| Transformation for forces at the toe to joint torques. More... | |
| virtual void | abstractToPhysical (const float in[N], float out[N])=0 |
| Forward kinematics. More... | |
| void | enable (bool flag) |
| Enables all the motors in this "leg". More... | |
| float | getPosition (int i) |
| Returns the ith toe position coordinate. More... | |
| virtual float | getPosition () |
| Get position of 0th coordinate. More... | |
| float | getVelocity (int i) |
| Returns the ith toe coordinate velocity. More... | |
| virtual float | getVelocity () |
| Get velocity of 0th coordinate. More... | |
| float | getOpenLoop (int i) |
| Get the openloop value for the ith coordinate; useful when using setPosition(int, float) More... | |
| virtual float | getOpenLoop () |
| Get open loop value of 0th coordinate. More... | |
| void | setOpenLoop (int i, float val) |
| Set open loop command to coordinate i. More... | |
| virtual void | setOpenLoop (float val) |
| Set open loop value for 0th coordinate. More... | |
| void | setGain (int i, float Kp, float Kd) |
| Set PD gains for coordinate i. More... | |
| void | setPosition (int i, float setpoint) |
| Set position setpoint for coordinate i, and change to position control mode. More... | |
| virtual void | setPosition (float pos) |
| Set position for 0th coordinate. More... | |
| void | update () |
| This should be called at a more or less fixed rate (once per iteration) More... | |
Inherits AbstractMotor< 2 >.
