FlexSEA Wiki

A WEARABLE ROBOTICS TOOLKIT

User Tools

Site Tools


fxapifunctions

Differences

This shows you the differences between two versions of the page.

Link to this comparison view

Both sides previous revision Previous revision
fxapifunctions [2019/04/03 18:39]
jfduval [void setZGains(int devId, int z_k, int z_b, int i_kp, int i_ki)]
fxapifunctions [2019/04/15 17:25] (current)
flabelle
Line 25: Line 25:
 | setMotorCurrent | void  | int devId, int cur |Sets the current for the motor. The current is specified in mA (milliamps). [[#void setMotorCurrent(int devId,​ int cur)|More...]]\\ | | setMotorCurrent | void  | int devId, int cur |Sets the current for the motor. The current is specified in mA (milliamps). [[#void setMotorCurrent(int devId,​ int cur)|More...]]\\ |
 | setPosition | void  | int devId, int pos |Sets the setpoint in encoder ticks. [[#void setPosition(int devId,​ int pos)|More...]]\\ | | setPosition | void  | int devId, int pos |Sets the setpoint in encoder ticks. [[#void setPosition(int devId,​ int pos)|More...]]\\ |
-setZGains ​| void  | int devId, int z_k, int z_b, int i_kp, int i_ki |Sets the gains used by PID controllers on the FlexSEA device. [[#​void ​setZGains(int devId,​ int z_k, int z_b, int i_kp, int i_ki)|More...]]\\ |+setGains ​| void  | int devId, int z_k, int z_b, int i_kp, int i_ki |Sets the gains used by PID controllers on the FlexSEA device. [[#​void ​setGains(int devId,​ int g0, int g1, int g2, int g3)|More...]]\\ |
 | actPackFSM2 | void  | int devId, int on |Enables or disables the user FSM 2 on the FlexSEA device. [[#void actPackFSM2(int devId, int on)|More...]]\\ | | actPackFSM2 | void  | int devId, int on |Enables or disables the user FSM 2 on the FlexSEA device. [[#void actPackFSM2(int devId, int on)|More...]]\\ |
 | findPoles | void  | int devId, int block |Runs the internal calibration routine on the FlexSEA device. Find poles procedure on the device. [[#void findPoles(int devId,​ int block)|More...]]\\ | | findPoles | void  | int devId, int block |Runs the internal calibration routine on the FlexSEA device. Find poles procedure on the device. [[#void findPoles(int devId,​ int block)|More...]]\\ |
Line 224: Line 224:
   * **Note** The control mode must be either position or impedance.   * **Note** The control mode must be either position or impedance.
  
-==== void setZGains(int devId,​ int z_k, int z_b, int i_kp, int i_ki) ====+==== void setGains(int devId,​ int g0, int g1, int g2, int g3) ====
  
  
Line 231: Line 231:
   * **Parameters** ​   * **Parameters** ​
     *devId: opaque handle for the device.     *devId: opaque handle for the device.
-    *z_k: Stiffness factor (used for current in current control & position in position/​impedance control)  +    *g0: Stiffness factor (used for current in current control & position in position/​impedance control)  
-    *z_b: Damping factor (used for current in current control & position in position/​impedance control)  +    *g1: Damping factor (used for current in current control & position in position/​impedance control)  
-    *i_kp: Proportional (used for for the underlying current control within the impedance controller)  +    *g2: Proportional (used for for the underlying current control within the impedance controller)  
-    *i_ki: Integral gain (used for for the underlying current control within the impedance controller) ​+    *g3: Integral gain (used for for the underlying current control within the impedance controller) ​
  
   * **Returns** ​   * **Returns** ​
     * Nothing.     * Nothing.
fxapifunctions.txt · Last modified: 2019/04/15 17:25 by flabelle