YARP
Yet Another Robot Platform
PidEnums.h File Reference
#include <yarp/os/Vocab.h>
#include <yarp/conf/system.h>
#include <yarp/dev/api.h>
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Namespaces

 yarp
 
 yarp::dev
 An interface for the device drivers.
 

Enumerations

enum  yarp::dev::PidControlTypeEnum {
  yarp::dev::VOCAB_PIDTYPE_POSITION = yarp::os::createVocab('p', 'o', 's'),
  yarp::dev::VOCAB_PIDTYPE_VELOCITY = yarp::os::createVocab('v', 'e', 'l'),
  yarp::dev::VOCAB_PIDTYPE_TORQUE = yarp::os::createVocab('t', 'r', 'q'),
  yarp::dev::VOCAB_PIDTYPE_CURRENT = yarp::os::createVocab('c', 'u', 'r')
}
 
enum  yarp::dev::PidFeedbackUnitsEnum {
  yarp::dev::PidFeedbackUnitsEnum::RAW_MACHINE_UNITS = 0,
  yarp::dev::PidFeedbackUnitsEnum::METRIC = 1
}
 
enum  yarp::dev::PidOutputUnitsEnum {
  yarp::dev::PidOutputUnitsEnum::RAW_MACHINE_UNITS = 0,
  yarp::dev::PidOutputUnitsEnum::DUTYCYCLE_PWM_PERCENT = 1,
  yarp::dev::PidOutputUnitsEnum::POSITION_METRIC = 2,
  yarp::dev::PidOutputUnitsEnum::VELOCITY_METRIC = 3,
  yarp::dev::PidOutputUnitsEnum::TORQUE_METRIC = 4,
  yarp::dev::PidOutputUnitsEnum::CURRENT_METRIC = 5
}