Trajectory::HomingMotorTrajectory API

TrajectoryControl(global)trajectorytrajectory::HomingMotorTrajectorytrajectory::HomingMotorTrajectory::CalibrationConfigtrajectory::MotorCalibrationapiapi

1. 目录
2. TrajectoryControl
3. Trajectory::HomingMotorTrajectory
4. API

文档稀疏

符号

36

已记录

7

修订版本

0.1.0+29bd084ccf5d

29 / 36 个公开 API 符号没有说明。

命名空间

1

trajectory

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HomingMotorTrajectory/homing_motor_trajectory.hpp:16

类

1

trajectory::HomingMotorTrajectory

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HomingMotorTrajectory/homing_motor_trajectory.hpp:37

结构体

2

trajectory::HomingMotorTrajectory::CalibrationConfig

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HomingMotorTrajectory/homing_motor_trajectory.hpp:46

trajectory::MotorCalibration

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HomingMotorTrajectory/homing_motor_trajectory.hpp:19

函数

12

trajectory::HomingMotorTrajectory::HomingMotorTrajectory

                    trajectory::HomingMotorTrajectory< MotorNum >::HomingMotorTrajectory (MotorTrajectory< MotorNum > &&trajectory, const CalibrationConfig &calibration_config)
                  

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HomingMotorTrajectory/homing_motor_trajectory.hpp:59

trajectory::HomingMotorTrajectory::controllerUpdate

                    void trajectory::HomingMotorTrajectory< MotorNum >::controllerUpdate ()
                  

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HomingMotorTrajectory/homing_motor_trajectory.hpp:99

trajectory::HomingMotorTrajectory::enabled

                    bool trajectory::HomingMotorTrajectory< MotorNum >::enabled () const
                  

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HomingMotorTrajectory/homing_motor_trajectory.hpp:66

trajectory::HomingMotorTrajectory::errorUpdate

                    void trajectory::HomingMotorTrajectory< MotorNum >::errorUpdate ()
                  

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HomingMotorTrajectory/homing_motor_trajectory.hpp:97

trajectory::HomingMotorTrajectory::isCalibrated

                    bool trajectory::HomingMotorTrajectory< MotorNum >::isCalibrated () const
                  

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HomingMotorTrajectory/homing_motor_trajectory.hpp:185

trajectory::HomingMotorTrajectory::profileUpdate

                    void trajectory::HomingMotorTrajectory< MotorNum >::profileUpdate (const float dt)
                  

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HomingMotorTrajectory/homing_motor_trajectory.hpp:95

trajectory::HomingMotorTrajectory::setTarget

                    bool trajectory::HomingMotorTrajectory< MotorNum >::setTarget (const float target)
                  

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HomingMotorTrajectory/homing_motor_trajectory.hpp:175

trajectory::HomingMotorTrajectory::setTarget

                    bool trajectory::HomingMotorTrajectory< MotorNum >::setTarget (const float target, const LinkMode link_mode)
                  

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HomingMotorTrajectory/homing_motor_trajectory.hpp:176

trajectory::HomingMotorTrajectory::setTarget

                    bool trajectory::HomingMotorTrajectory< MotorNum >::setTarget (const float target, const LinkMode link_mode, const ProfileConfig &config)
                  

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HomingMotorTrajectory/homing_motor_trajectory.hpp:171

trajectory::HomingMotorTrajectory::setTarget

                    bool trajectory::HomingMotorTrajectory< MotorNum >::setTarget (const float target, const ProfileConfig &config)
                  

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HomingMotorTrajectory/homing_motor_trajectory.hpp:180

trajectory::HomingMotorTrajectory::startCalibration

                    void trajectory::HomingMotorTrajectory< MotorNum >::startCalibration ()
                  

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HomingMotorTrajectory/homing_motor_trajectory.hpp:68

trajectory::HomingMotorTrajectory::startCalibration

                    void trajectory::HomingMotorTrajectory< MotorNum >::startCalibration (const float target_after_homing)
                  

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HomingMotorTrajectory/homing_motor_trajectory.hpp:70

枚举

2

trajectory::HomingMotorTrajectory::CalibrationState

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Done

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Idle

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MotorFinding

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MovingToTarget

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HomingMotorTrajectory/homing_motor_trajectory.hpp:188

trajectory::MotorCalibration::State

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Done

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Finding

检测堵转位置

Idle

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HomingMotorTrajectory/homing_motor_trajectory.hpp:21

类型定义

2

trajectory::HomingMotorTrajectory::Parent

                    using trajectory::HomingMotorTrajectory< MotorNum >::Parent = MotorTrajectory<MotorNum>
                  

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HomingMotorTrajectory/homing_motor_trajectory.hpp:41

trajectory::HomingMotorTrajectory::ProfileConfig

                    using trajectory::HomingMotorTrajectory< MotorNum >::ProfileConfig = typename Parent::ProfileConfig
                  

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HomingMotorTrajectory/homing_motor_trajectory.hpp:44

变量

15

trajectory::HomingMotorTrajectory::CalibrationConfig::dead_angle

                    float trajectory::HomingMotorTrajectory< MotorNum >::CalibrationConfig::dead_angle
                  

堵转检测过程允许的角度误差，单位 deg

HomingMotorTrajectory/homing_motor_trajectory.hpp:56

trajectory::HomingMotorTrajectory::CalibrationConfig::max_current

                    float trajectory::HomingMotorTrajectory< MotorNum >::CalibrationConfig::max_current
                  

堵转寻点时速度环输出上限

HomingMotorTrajectory/homing_motor_trajectory.hpp:49

trajectory::HomingMotorTrajectory::CalibrationConfig::min_ticks

                    uint32_t trajectory::HomingMotorTrajectory< MotorNum >::CalibrationConfig::min_ticks
                  

堵转最小持续时间，单位 ms

HomingMotorTrajectory/homing_motor_trajectory.hpp:50

trajectory::HomingMotorTrajectory::CalibrationConfig::offset

                    float trajectory::HomingMotorTrajectory< MotorNum >::CalibrationConfig::offset
                  

逻辑零点相对于堵转位置的偏移

HomingMotorTrajectory/homing_motor_trajectory.hpp:52

trajectory::HomingMotorTrajectory::CalibrationConfig::speed

                    float trajectory::HomingMotorTrajectory< MotorNum >::CalibrationConfig::speed
                  

堵转寻点速度，单位跟 MotorVelController::setRef 保持一致

HomingMotorTrajectory/homing_motor_trajectory.hpp:48

trajectory::HomingMotorTrajectory::CalibrationConfig::target_after_homing

                    float trajectory::HomingMotorTrajectory< MotorNum >::CalibrationConfig::target_after_homing
                  

寻零完成后自动回到的逻辑目标位置

HomingMotorTrajectory/homing_motor_trajectory.hpp:54

trajectory::HomingMotorTrajectory::calibration_target_

                    float trajectory::HomingMotorTrajectory< MotorNum >::calibration_target_
                  

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HomingMotorTrajectory/homing_motor_trajectory.hpp:198

trajectory::HomingMotorTrajectory::cfg_

                    CalibrationConfig trajectory::HomingMotorTrajectory< MotorNum >::cfg_
                  

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HomingMotorTrajectory/homing_motor_trajectory.hpp:196

trajectory::HomingMotorTrajectory::motor_calib_

                    std::array<MotorCalibration, MotorNum> trajectory::HomingMotorTrajectory< MotorNum >::motor_calib_
                  

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HomingMotorTrajectory/homing_motor_trajectory.hpp:202

trajectory::HomingMotorTrajectory::state_

                    CalibrationState trajectory::HomingMotorTrajectory< MotorNum >::state_
                  

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HomingMotorTrajectory/homing_motor_trajectory.hpp:200

trajectory::MotorCalibration::max_current_on_working

                    float trajectory::MotorCalibration::max_current_on_working
                  

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HomingMotorTrajectory/homing_motor_trajectory.hpp:30

trajectory::MotorCalibration::stall_angle

                    float trajectory::MotorCalibration::stall_angle
                  

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HomingMotorTrajectory/homing_motor_trajectory.hpp:34

trajectory::MotorCalibration::stall_start_tick

                    uint32_t trajectory::MotorCalibration::stall_start_tick
                  

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HomingMotorTrajectory/homing_motor_trajectory.hpp:33

trajectory::MotorCalibration::stalling

                    bool trajectory::MotorCalibration::stalling
                  

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HomingMotorTrajectory/homing_motor_trajectory.hpp:32

trajectory::MotorCalibration::state

                    State trajectory::MotorCalibration::state
                  

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HomingMotorTrajectory/homing_motor_trajectory.hpp:28

文件

1

HomingMotorTrajectory/homing_motor_trajectory.hpp

syhanjin 2026-04-17

HomingMotorTrajectory/homing_motor_trajectory.hpp