class rotaryActuator

Class for rotary electric motors.

Inheritance:

Public Fields

double density

density of the motor; computed from mass, length, & diameter

double length

the length of the motor

double diameter

the diameter of the motor

double stallTorque

the torque at which the motor stalls

double contTorque

the continuous torque rating of the motor

double maxVel

the maximum velocity of the motor

double ks

speed constant (rpm/V in the file format)

double kt

torque constant (N/A in the file format)

double i0

no-load current

double R

motor resistance

double I

rotor inertia

double g

speed/torque gradient

Inherited from component:

Public Fields

int index

char name[COMPONENT_NAME_LEN]

ptrList* dependencies

symbolTableEntry* dependencyRefs

Public Methods

component& operator=(const component &other)

virtual int readValues(symbolTableEntry* valueList)

int hasDependencies(void) const

int readValue(double &val, const char* name, symbolTableEntry* &list, int quiet = 0)

int readValue(int &val, const char* name, symbolTableEntry* &list, int quiet = 0)

int readValue(char val[COMPONENT_STR_LEN], const char* name, symbolTableEntry* &list, int quiet = 0)

void checkAndFreeSymbols(symbolTableEntry* entry)

Inherited from synObject:

Public Fields

static int staticClassID

int objectID

int verboseLevel

Public Methods

virtual const char* className(void) const

virtual synObject* copy(void) const

virtual int isOfType(int typeNum, int derivedOk)

static int setStaticClassID(void)

virtual int classID(void) const

Documentation

Class for rotary electric motors. The assumed geometric model is a cylinder whose axis is aligned with the axis of rotation.

double density

density of the motor; computed from mass, length, & diameter

double length

the length of the motor

double diameter

the diameter of the motor

double stallTorque

the torque at which the motor stalls

double contTorque

the continuous torque rating of the motor

double maxVel

the maximum velocity of the motor

double ks

speed constant (rpm/V in the file format)

double kt

torque constant (N/A in the file format)

double i0

no-load current

double R

motor resistance

double I

rotor inertia

double g

speed/torque gradient

This class has no child classes.

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