Struct Orbita3dController

pub struct Orbita3dController {
    pub kinematics: Orbita3dKinematicsModel,
    /* private fields */
}

Orbita3d Controller

Fields

kinematics: Orbita3dKinematicsModel

Implementations

impl Orbita3dController

pub fn with_config(configfile: &str) -> Result<Self>

Creates a new Orbita3dController using the given configuration file.

impl Orbita3dController

pub fn is_torque_on(&mut self) -> Result<bool>

Check if the torque is ON or OFF

pub fn enable_torque(&mut self, reset_target: bool) -> Result<()>

Enable the torque

Arguments

• reset_target: if true, the target position will be reset to the current position

pub fn disable_torque(&mut self) -> Result<()>

Disable the torque

pub fn get_current_orientation(&mut self) -> Result<[f64; 4]>

Get the current orientation (as quaternion (qx, qy, qz, qw))

pub fn get_current_rpy_orientation(&mut self) -> Result<[f64; 3]>

Get the current orientation (as intrinsic rpy with multiturn)

pub fn get_current_velocity(&mut self) -> Result<[f64; 3]>

Get the current velocity $\omega$ (as a velocity pseudo vector (wx, wy, wz) which defines the instantaneous axis of rotation and with the norm represents the velocity)

pub fn get_current_torque(&mut self) -> Result<[f64; 3]>

Get the current torque (as pseudo vector)

pub fn get_target_orientation(&mut self) -> Result<[f64; 4]>

Get the target orientation (as quaternion (qx, qy, qz, qw))

pub fn get_target_rpy_orientation(&mut self) -> Result<[f64; 3]>

Get the target orientation (as intrinsic rpy with multiturn)

pub fn set_target_orientation(&mut self, target: [f64; 4]) -> Result<()>

Set the target orientation (as quaternion (qx, qy, qz, qw))

pub fn set_target_rpy_orientation(&mut self, target: [f64; 3]) -> Result<()>

Set the target orientation fro the roll pitch yaw intrinsic angles (taking multi turn into account)

pub fn set_target_orientation_fb( &mut self, target: [f64; 4], ) -> Result<Orbita3dFeedback>

Set the target orientation (as quaternion (qx, qy, qz, qw)) with feedback

pub fn set_target_rpy_orientation_fb( &mut self, target: [f64; 3], ) -> Result<[f64; 3]>

Set the target orientation from roll pitch yaw (accepts yaw>180°) intrinsic angles with feedback => returns feedback rpy

pub fn get_raw_motors_positions(&mut self) -> Result<[f64; 3]>

Get the position of each raw motor (in rad) caution: this is the raw value used by the motors used inside the actuator, not the orbita3d orientation!

pub fn get_raw_motors_velocity_limit(&mut self) -> Result<[f64; 3]>

Get the velocity limit of each raw motor (in rad/s) caution: this is the raw value used by the motors used inside the actuator, not a limit to orbita3d orientation!

pub fn set_raw_motors_velocity_limit(&mut self, limit: [f64; 3]) -> Result<()>

Set the velocity limit of each raw motor (in rad/s) caution: this is the raw value used by the motors used inside the actuator, not a limit to orbita3d orientation!

pub fn get_raw_motors_torque_limit(&mut self) -> Result<[f64; 3]>

Get the torque limit of each raw motor (in N.m) caution: this is the raw value used by the motors used inside the actuator, not a limit to orbita3d orientation!

pub fn set_raw_motors_torque_limit(&mut self, limit: [f64; 3]) -> Result<()>

Set the torque limit of each raw motor (in N.m) caution: this is the raw value used by the motors used inside the actuator, not a limit to orbita3d orientation!

pub fn get_raw_motors_pid_gains(&mut self) -> Result<[PID; 3]>

Get the pid gains of each raw motor caution: this is the raw value used by the motors used inside the actuator, not on orbita3d orientation!

pub fn set_raw_motors_pid_gains(&mut self, gains: [PID; 3]) -> Result<()>

Set the pid gains of each raw motor caution: this is the raw value used by the motors used inside the actuator, not on orbita3d orientation!

pub fn get_raw_motors_velocity(&mut self) -> Result<[f64; 3]>

Get the raw motors velocity in rad/s (top, middle, bottom)

pub fn get_raw_motors_current(&mut self) -> Result<[f64; 3]>

Get the raw motors current in mA (top, middle, bottom)

pub fn get_axis_sensors(&mut self) -> Result<[f64; 3]>

Get the axis sensors values (gearbox mounted absolute magnetic encoder)

pub fn get_axis_sensor_zeros(&mut self) -> Result<[f64; 3]>

Get the axis sensor zeros values (random offset from factory)

pub fn get_error_codes(&mut self) -> Result<[i32; 3]>

Get the error codes from the motors

pub fn get_motor_temperatures(&mut self) -> Result<[f64; 3]>

Get the temperature for each motor in °C from a NTC sensor in contact with the motor body (top, middle, bottom)

pub fn get_board_temperatures(&mut self) -> Result<[f64; 3]>

Get the temperature for each H-Gate in °C (top, middle, bottom)

pub fn get_board_state(&mut self) -> Result<u8>

Get the board state register

pub fn set_board_state(&mut self, state: u8) -> Result<()>

Get the board state register

pub fn get_control_mode(&mut self) -> Result<[u8; 3]>

Get the current mode of operation (cf. firmware_poulpe documentation)

pub fn set_control_mode(&mut self, mode: [u8; 3]) -> Result<()>

Set the current mode of operation (cf. firmware_poulpe documentation). Currently valid: 0=NoMode, 1=ProfilePositionMode, 3=ProfileVelocityMode, 4=ProfileTorqueMode

pub fn emergency_stop(&mut self)

Triggers and emergency stop