motorInfo_t Struct Reference

モータ制御用の構造体 More...

#include <motorCtrl.h>

List of all members.

Public Attributes
unsigned char	id
int	gain_p
int	gain_i
int	i_value
int	r_per_v
int	ke_per_v

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Detailed Description

モータ制御用の構造体

モータ制御に必要なパラメータを管理

Definition at line 23 of file motorCtrl.h.

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Member Data Documentation

unsigned char motorInfo_t::id

使用するモータのデバイスID

Definition at line 24 of file motorCtrl.h.

Referenced by initMotorInfo(), setMotorFree(), and setMotorRevolution().

int motorInfo_t::gain_p

P制御のゲイン [1]

Definition at line 25 of file motorCtrl.h.

Referenced by initMotorInfo().

int motorInfo_t::gain_i

I制御のゲイン [1/1024]

Definition at line 26 of file motorCtrl.h.

Referenced by initMotorInfo().

int motorInfo_t::i_value

Iの積分値

Definition at line 27 of file motorCtrl.h.

Referenced by initMotorInfo().

int motorInfo_t::r_per_v

(巻き線抵抗 / モータ電圧) * 桁揃えの定数

Definition at line 28 of file motorCtrl.h.

Referenced by initMotorInfo().

int motorInfo_t::ke_per_v

(逆起電力定数 / モータ電圧) * 桁揃えの定数

Definition at line 29 of file motorCtrl.h.

Referenced by initMotorInfo().

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

• src/runCtrl/tRunCtrl/motorCtrl.h