odrive_msgs.hpp File Reference

Go to the source code of this file.

Classes
struct	ODriveUserData
	: The Struct to contain feedback from the ODrive More...
struct	Set_Param_msg_t< T >
	Structure for setting ODrive Parameters Endpoint_ids can be found at the following link: https://odrive-cdn.nyc3.digitaloceanspaces.com/releases/firmware/laZ44T35qb_uR6AW6S5RdTrOL9sqZlc2_FonY3vm21Q/flat_endpoints.json. More...
struct	Param< T >
	Structure for storing information about parameters. More...
struct	Set_Reboot_msg_t
	Message struct for reboooting Odrive. More...

Functions
std::vector< Param< float > >	fconfig_params ({ Param< float >{"spinout_mechanical_power_threshold", 420, -100.0}, Param< float >{"spinout_eletrical_power_threshold", 421, 100.0}, Param< float >{"max_regen_current", 139, 50.0}, Param< float >{"dc_max_negative_current", 143, -50.0}, Param< float >{"pos_gain", 400, 100}, Param< float >{"vel_gain", 401, 12}, Param< float >{"vel_integrator_gain", 402, 0.0}, Param< float >{"torque_soft_min", 267, -10.0}, Param< float >{"torque_soft_max", 268, 10.0}, Param< float >{"calib_scan_dist", 215, 4.0}, Param< float >{"motor_thermistor.config.r_ref", 352, 10000}, Param< float >{"motor_thermistor.config.t_ref", 353, 25}, Param< float >{"motor_thermistor.config.beta", 354, 3892}, Param< float >{"motor_thermistor.config.temp_limit_lower", 355, 60}, Param< float >{"motor_thermistor.config.temp_limit_upper", 356, 90}, Param< float >{"vel_limit", 404, 30.0}, Param< float >{"vel_limit_tolerance", 405, 1.5}, })
std::vector< Param< uint32_t > >	bconfig_params ({ Param< uint32_t >{"version_msg_rate_ms", 248, 0}, Param< uint32_t >{"iq_msg_rate_ms", 251, 0}, Param< uint32_t >{"bus_voltage_msg_rate_ms", 254, 0}, Param< uint32_t >{"powers_msg_rate_ms", 256, 0}, Param< uint32_t >{"gpio7_mode", 159, 3}, Param< uint32_t >{"motor_thermistor.config.enabled", 357, 0}, Param< uint32_t >{"can.temperature_msg_rate_ms", 253, 100}, Param< uint32_t >{"enable_vel_limit", 393, 1}, Param< uint32_t >{"enable_torque_mode_vel_limit", 394, 1}, })
std::vector< Param< float > >	fanticogging_config_params ({Param< float >{"spinout_mechanical_power_threshold", 420, -100.0}, Param< float >{"spinout_eletrical_power_threshold", 421, 100.0}, Param< float >{"max_regen_current", 139, 50.0}, Param< float >{"dc_max_negative_current", 143, -50.0}, Param< float >{"pos_gain", 400, 20.0}, Param< float >{"vel_gain", 401, 8.5e-3}, Param< float >{"vel_integrator_gain", 402, 0.0}, Param< float >{"torque_soft_min", 267, -150.0}, Param< float >{"torque_soft_max", 268, 150.0}, Param< float >{"anticogging.max_torque", 305, 0.15}, Param< float >{"anticogging.calib_start_vel", 306, 1}, Param< float >{"anticogging.calib_end_val", 307, 0.15}, Param< float >{"anticogging.calib_coarse_integrator_gain", 311, 1}})
std::vector< Param< uint32_t > >	banticogging_config_params ({Param< uint32_t >{"circular_setpoints", 408, true}, Param< uint32_t >{"offset_valid", 466, true}})

Variables
auto	benable_config_param = Param<uint32_t>{"anticogging.enabled", 304, true}

Function Documentation

banticogging_config_params()

std::vector< Param< uint32_t > > banticogging_config_params

(

{Param< uint32_t >{"circular_setpoints", 408, true}, Param< uint32_t >{"offset_valid", 466, true}}

)

Referenced by OdriveController< CAN >::enable_anticogging().

bconfig_params()

std::vector< Param< uint32_t > > bconfig_params

(

{ Param< uint32_t >{"version_msg_rate_ms", 248, 0}, Param< uint32_t >{"iq_msg_rate_ms", 251, 0}, Param< uint32_t >{"bus_voltage_msg_rate_ms", 254, 0}, Param< uint32_t >{"powers_msg_rate_ms", 256, 0}, Param< uint32_t >{"gpio7_mode", 159, 3}, Param< uint32_t >{"motor_thermistor.config.enabled", 357, 0}, Param< uint32_t >{"can.temperature_msg_rate_ms", 253, 100}, Param< uint32_t >{"enable_vel_limit", 393, 1}, Param< uint32_t >{"enable_torque_mode_vel_limit", 394, 1}, }

)

Referenced by OdriveController< CAN >::set_params().

fanticogging_config_params()

std::vector< Param< float > > fanticogging_config_params

(

{Param< float >{"spinout_mechanical_power_threshold", 420, -100.0}, Param< float >{"spinout_eletrical_power_threshold", 421, 100.0}, Param< float >{"max_regen_current", 139, 50.0}, Param< float >{"dc_max_negative_current", 143, -50.0}, Param< float >{"pos_gain", 400, 20.0}, Param< float >{"vel_gain", 401, 8.5e-3}, Param< float >{"vel_integrator_gain", 402, 0.0}, Param< float >{"torque_soft_min", 267, -150.0}, Param< float >{"torque_soft_max", 268, 150.0}, Param< float >{"anticogging.max_torque", 305, 0.15}, Param< float >{"anticogging.calib_start_vel", 306, 1}, Param< float >{"anticogging.calib_end_val", 307, 0.15}, Param< float >{"anticogging.calib_coarse_integrator_gain", 311, 1}}

)

Referenced by OdriveController< CAN >::enable_anticogging().

fconfig_params()

std::vector< Param< float > > fconfig_params

(

{ Param< float >{"spinout_mechanical_power_threshold", 420, -100.0}, Param< float >{"spinout_eletrical_power_threshold", 421, 100.0}, Param< float >{"max_regen_current", 139, 50.0}, Param< float >{"dc_max_negative_current", 143, -50.0}, Param< float >{"pos_gain", 400, 100}, Param< float >{"vel_gain", 401, 12}, Param< float >{"vel_integrator_gain", 402, 0.0}, Param< float >{"torque_soft_min", 267, -10.0}, Param< float >{"torque_soft_max", 268, 10.0}, Param< float >{"calib_scan_dist", 215, 4.0}, Param< float >{"motor_thermistor.config.r_ref", 352, 10000}, Param< float >{"motor_thermistor.config.t_ref", 353, 25}, Param< float >{"motor_thermistor.config.beta", 354, 3892}, Param< float >{"motor_thermistor.config.temp_limit_lower", 355, 60}, Param< float >{"motor_thermistor.config.temp_limit_upper", 356, 90}, Param< float >{"vel_limit", 404, 30.0}, Param< float >{"vel_limit_tolerance", 405, 1.5}, }

)

Referenced by OdriveController< CAN >::set_params().

Variable Documentation

benable_config_param

auto benable_config_param = Param<uint32_t>{"anticogging.enabled", 304, true}

Definition at line 144 of file odrive_msgs.hpp.

Referenced by OdriveController< CAN >::enable_anticogging().