Stores setpoints for a command to the Drivetrain, containing speed and torque setpoints for each motor. These setpoints are defined in the torque controllers cycled by the TC Muxer. The Speeds unit is rpm and are the targeted speeds for each wheel of the car. The torques unit is nm and is the max torque requested from the inverter to reach such speeds. One can use the arrays with FR(Front Left), FL(Front Left), RL(Rear Left), RR(Rear Right) to access or modify the respective set points. eg. speeds_rpm[FR] = 0.0; Their indexes are defined in utility.h as follows: FL = 0, FR = 1, RL = 2, RR = 3. More...
#include <SharedDataTypes.h>
Public Attributes | |
| float | speeds_rpm [NUM_MOTORS] |
| float | inverter_torque_limit [NUM_MOTORS] |
Detailed Description
Stores setpoints for a command to the Drivetrain, containing speed and torque setpoints for each motor. These setpoints are defined in the torque controllers cycled by the TC Muxer. The Speeds unit is rpm and are the targeted speeds for each wheel of the car. The torques unit is nm and is the max torque requested from the inverter to reach such speeds. One can use the arrays with FR(Front Left), FL(Front Left), RL(Rear Left), RR(Rear Right) to access or modify the respective set points. eg. speeds_rpm[FR] = 0.0; Their indexes are defined in utility.h as follows: FL = 0, FR = 1, RL = 2, RR = 3.
Definition at line 62 of file SharedDataTypes.h.
Member Data Documentation
◆ inverter_torque_limit
| float DrivetrainCommand_s::inverter_torque_limit[NUM_MOTORS] |
Definition at line 65 of file SharedDataTypes.h.
◆ speeds_rpm
| float DrivetrainCommand_s::speeds_rpm[NUM_MOTORS] |
Definition at line 64 of file SharedDataTypes.h.
The documentation for this struct was generated from the following file:
- lib/shared_data/include/SharedDataTypes.h
