class singleJointController

In file /home/blah/darwin2k/src/d2k/ctrl/jointController.h:

class singleJointController

a controller for a single joint.

Inheritance:

Public Fields
joint* jt: the joint being controlled
int jdim: which dimension of the joint is being controlled
int idx: the index of this controller in the jointController's list
double lastTime: the last time computeTorqueCommand was called
position & velocity mode gains & variables
trajectory mode gains & variables
d2kCtrlStatus status: 1 = done, 0 = still going, -1 = timed out
singleJointController* master: the master joint for coordinated motion

Public Methods
singleJointController(void): constructor
int init(joint* jt): sets the joint to be controlled
int setMode(motionMode newMode, singleJointController* newMaster = NULL): sets the motion mode.
int reset(void): resets internal state (eg.
motionMode getMode(void) const: returns the current mode
double computeTorqueCommand(double t, double dt): computes a torque command.
double computeAccelerationCommand(double t, double dt): calls computeTorqueCommand; uses the same gains
int holdPosition(void): tries to hold current joint value using PID control
int accelerateToVelocity(double newV, double accMagnitude = -1): tries to accelerate to new velocity, with the indicated acceleration.
int setForceCommand(double f): exerts constant force/torque
int setPositionCommand(double p, double Timeout): PID control for position
int setVelocityCommand(double v): PID control for velocity
int followTrajectory(double goalPosition, double maxVelocity, double timeout): follows a linear trajectory w/ parabolic blends, moving at the indicated maximum speed
int followTimedTrajectory(double goalPosition, double time, double timeout): follows a linear trajectory w/ parabolic blends, aiming to complete the motion at the indicated time
int coordinatedMove(double goalPosition, singleJointController* master, double timeout): [not tested] moves to the indicated position, trying to keep percent of path complete the same as that of the master controller.
int readGains(FILE* fp): reads gains from a file descriptor
int writeGains(FILE* fp): writes gains to a file descriptor

Public Members
enum motionMode: the current control mode.

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

a controller for a single joint. This class is used by the jointControllerClass.

enum motionMode

the current control mode.

DISABLED - not supplying torque commands
POSITION - PID control
VELOCITY - PID on velocity
FORCE - exerting constant force
ACCEL - constant acceleration to a desired velocity
TRAJECTORY - linear with parabolic blends
COORDINATED - coordinating motion with another joint [not tested]
VELOCITY_SYNC - synchronizing velocity to another joint [not tested]

joint* jt

the joint being controlled

int jdim

which dimension of the joint is being controlled

int idx

the index of this controller in the jointController's list

double lastTime

the last time computeTorqueCommand was called

position & velocity mode gains & variables double kp proportional gain double kv velocity gain double ki integral gain double p desired position double v desired velocity double kvi integral gain for velocity commands double errorI integral of error double thresh position or velocity error threshold double lastPos last position; used for smoothing velocity double vfilt filtered velocity

trajectory mode gains & variables double kat acceleration gain for trajectory following double kvt velocity gain for trajectory following double maxAcc desired accel for trajectory (magnitude) double acc commanded acc (signed) double completed fraction completed double tt predicted time to complete trajectory double goalP goal position double startP starting position double startV starting velocity double startT starting time double timeout max time for motion double accEndT switch from accel to decel double decBeginT switch from accel to decel

d2kCtrlStatus status

1 = done, 0 = still going, -1 = timed out

singleJointController* master

the master joint for coordinated motion

singleJointController(void)

constructor

int init(joint* jt)

sets the joint to be controlled

int setMode(motionMode newMode, singleJointController* newMaster = NULL)

sets the motion mode. newMaster is the master to use for coordinated motion

int reset(void)

resets internal state (eg. error integral)

motionMode getMode(void) const

returns the current mode

double computeTorqueCommand(double t, double dt)

computes a torque command. t is the current time, and dt is the time since last update

double computeAccelerationCommand(double t, double dt)

calls computeTorqueCommand; uses the same gains

int holdPosition(void)

tries to hold current joint value using PID control

int accelerateToVelocity(double newV, double accMagnitude = -1)

tries to accelerate to new velocity, with the indicated acceleration. accMagnitude < 0 indicates that maxAcc should be used.

int setForceCommand(double f)

exerts constant force/torque

int setPositionCommand(double p, double Timeout)

PID control for position

int setVelocityCommand(double v)

PID control for velocity

int followTrajectory(double goalPosition, double maxVelocity, double timeout)

follows a linear trajectory w/ parabolic blends, moving at the indicated maximum speed

int followTimedTrajectory(double goalPosition, double time, double timeout)

follows a linear trajectory w/ parabolic blends, aiming to complete the motion at the indicated time

int coordinatedMove(double goalPosition, singleJointController* master, double timeout)

[not tested] moves to the indicated position, trying to keep percent of path complete the same as that of the master controller.

int readGains(FILE* fp)

reads gains from a file descriptor

int writeGains(FILE* fp)

writes gains to a file descriptor

This class has no child classes.

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