High performance motor control
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error
— Error
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input_torque
— float32
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pos_setpoint
— float32
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vel_setpoint
— float32
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torque_setpoint
— float32
readonly
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trajectory_done
— bool
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vel_integrator_torque
— float32
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anticogging_valid
— bool
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config
— Config
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move_incremental(displacement: float32, from_input_pos: bool)
Moves the axes’ goal point by a specified increment.
Inputs:
displacement
: The desired position change.from_input_pos
: If true, the increment is applied relative to input_pos. If false, the increment is applied relative to pos_setpoint, which usually corresponds roughly to the current position of the axis.start_anticogging_calibration()
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