#include <tsid/utils/stop-watch.hpp>
#include <tsid/utils/statistics.hpp>
#include <dynamic-graph/factory.h>
#include <sot/core/debug.hh>
#include <sot/torque_control/current-controller.hh>
#include <sot/torque_control/commands-helper.hh>
Go to the source code of this file.
◆ INPUT_SIGNALS
Value:m_i_desSIN << m_percentage_dead_zone_compensationSIN <<
SAFETY_SIGNALS << m_i_max_dead_zone_compensationSIN \
<< m_dqSIN << m_bemf_factorSIN << m_in_out_gainSIN << m_i_measuredSIN << m_dead_zone_offsetsSIN \
<< m_i_sens_gainsSIN << m_i_sensor_offsets_low_levelSIN << m_i_sensor_offsets_real_inSIN \
<< m_kp_currentSIN << m_ki_currentSIN << m_percentage_bemf_compensationSIN
Definition at line 24 of file current-controller.cpp.
◆ OUTPUT_SIGNALS
Value:m_uSOUT << m_u_safeSOUT << m_i_realSOUT << m_i_low_levelSOUT << m_dead_zone_compensationSOUT << m_i_errorsSOUT \
<< m_i_errors_ll_wo_bemfSOUT << m_i_sensor_offsets_real_outSOUT
Definition at line 29 of file current-controller.cpp.
◆ SAFETY_SIGNALS
#define SAFETY_SIGNALS m_i_maxSIN << m_u_maxSIN << m_u_saturationSIN |