mm::node::Encoders Struct Reference

Both encoder records and which of them each controller uses. One read answers every "which encoder does X" question: a position in 0x6064 is in counts of the position encoder, so its revolution is that encoder's resolution. More...

#include <somanet_drive.h>

Collaboration diagram for mm::node::Encoders:

Public Attributes
std::vector< EncoderConfiguration >	encoders
std::optional< somanet::EncoderOrdinal >	position
	0x2012:09; empty for "no encoder".
std::optional< somanet::EncoderOrdinal >	velocity
	0x2011:05.
std::optional< somanet::EncoderOrdinal >	commutation
	0x2010:0C.

Detailed Description

Both encoder records and which of them each controller uses. One read answers every "which encoder does X" question: a position in 0x6064 is in counts of the position encoder, so its revolution is that encoder's resolution.

Member Data Documentation

commutation

std::optional<somanet::EncoderOrdinal> mm::node::Encoders::commutation

0x2010:0C.

encoders

std::vector<EncoderConfiguration> mm::node::Encoders::encoders

position

std::optional<somanet::EncoderOrdinal> mm::node::Encoders::position

0x2012:09; empty for "no encoder".

velocity

std::optional<somanet::EncoderOrdinal> mm::node::Encoders::velocity

0x2011:05.

---

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

• libs/node/somanet_drive.h