MotorMechanics Struct Reference

Mechanical mapping between the motor (rotor) frame and the load (output-shaft) frame. More...

#include <MotorController.h>

Public Attributes
double	gear_ratio_motor_to_output {1.0}
bool	invert_output {false}

Detailed Description

Mechanical mapping between the motor (rotor) frame and the load (output-shaft) frame.

Vortex talks to the silicon in the motor frame: every set/get on velocityControl, positionControl, the Diagnostics snapshot, and the commutation engine uses motor-shaft units. When the motor drives a gearbox, the user typically wants to think in the output-shaft frame.

gear_ratio_motor_to_output is the number of motor-shaft revolutions per one output-shaft revolution — e.g. a 10:1 reducer has gear_ratio = 10.

motor_value = load_value * gear_ratio_motor_to_output
load_value  = motor_value / gear_ratio_motor_to_output

Defaults to 1.0 (direct drive) so motor-frame and load-frame APIs are interchangeable until the user configures a gearbox.

Member Data Documentation

gear_ratio_motor_to_output

double MotorMechanics::gear_ratio_motor_to_output {1.0}

Motor-shaft revolutions per one output-shaft revolution. Must be > 0. 1.0 = direct drive. Reducers (typical) are > 1.0; step-up gearing is < 1.0 (e.g. 0.5 for 1:2 step-up).

invert_output

bool MotorMechanics::invert_output {false}

If true, sign of any load-frame command/feedback is inverted before being mapped to/from the motor frame. Useful when the gearbox or coupling reverses rotation direction.

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The documentation for this struct was generated from the following file:

• MotorController.h