configuration structure holding the passed homing paramters from the ros2_control urdf More...

Public Attributes
float	speed
	[float] Signed homing velocity.

u_int8_t	threshold
	[int, DEC] Encoder error threshold 0 to 255.

u_int8_t	current
	[int, DEC] Homing current between 0 and 100.

float	acceleration = 0.01
	[float] Joint acceleration during homing.

Detailed Description

configuration structure holding the passed homing paramters from the ros2_control urdf

Saving all parameters on initialization in a structure allows for quick access during runtime. See bioscara_hardware_drivers::BaseJoint::_home() for the description of the homing procedure.

Member Data Documentation

◆ acceleration

float bioscara_hardware_interfaces::BioscaraArmHardwareInterface::joint_homing_config_t::acceleration = 0.01

[float] Joint acceleration during homing.

In rad/s^2 or m/s^2 for cylindrical and prismatic joints respectively. Accelerating too fast can trigger a stall and hence false positve homing. See joint_config_t::max_acceleration.

◆ current

u_int8_t bioscara_hardware_interfaces::BioscaraArmHardwareInterface::joint_homing_config_t::current

[int, DEC] Homing current between 0 and 100.

Determines how easy it is to stop the motor and thereby provoke a stall. See joint_config_t::drive_current.

◆ speed

float bioscara_hardware_interfaces::BioscaraArmHardwareInterface::joint_homing_config_t::speed

[float] Signed homing velocity.

In rad/s or m/s for cylindrical and prismatic joints respectively. Must satisfy: 1.0 < RAD2DEG(JOINT2ACTUATOR(<speed>, reduction, 0)) / 6 < 250.0

◆ threshold

u_int8_t bioscara_hardware_interfaces::BioscaraArmHardwareInterface::joint_homing_config_t::threshold

[int, DEC] Encoder error threshold 0 to 255.

Lower values make the homing more sensitve but also more susceptible to false positives.

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