tap::motor::MotorConstants Class Reference

#include <motor_constants.hpp>

Inheritance diagram for tap::motor::MotorConstants:

Public Member Functions
virtual float	convertOutputToCurrent (float output) const =0
virtual float	getTorqueConstant () const =0

Detailed Description

An interface to store motor constants and conversions.

Member Function Documentation

convertOutputToCurrent()

virtual float tap::motor::MotorConstants::convertOutputToCurrent ( float  output ) const

inlinepure virtual

Returns

the corresponding output in mA for a given raw motor output value (the one that you directly send to the motor/receive from the motor)

Implemented in tap::motor::M3508Constants.

getTorqueConstant()

virtual float tap::motor::MotorConstants::getTorqueConstant ( ) const

inlinepure virtual

Returns

The motor torque constant, in N * m.

Implemented in tap::motor::M3508Constants.

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

• fang-mcb-project/taproot/src/tap/motor/motor_constants.hpp