Table of Contents

Class MotorVoltageDeviceInterface

Namespace
NominalSystems.Classes
Assembly
NominalSystems.Classes.dll

This module translates incoming voltage commands into torques commands.

public class MotorVoltageDeviceInterface : Software
Inheritance
MotorVoltageDeviceInterface
Inherited Members

Constructors

MotorVoltageDeviceInterface()

Default constructor for the software

public MotorVoltageDeviceInterface()

Fields

Bias

[Nm] Bias to add to the torque output

public double[] Bias

Field Value

double[]

In_ArrayMotorVoltageMsg

Incoming array of voltage commands that map to torques

public ArrayMotorVoltageMessage In_ArrayMotorVoltageMsg

Field Value

ArrayMotorVoltageMessage

K

[Nm/V] Gain to convert voltage to motor torque errors

public double[] K

Field Value

double[]

Out_ArrayMotorTorqueMsg

Outgoing array of motor torque commands

public ArrayMotorTorqueMessage Out_ArrayMotorTorqueMsg

Field Value

ArrayMotorTorqueMessage

ScaleFactor

[-] scales the output i.e. constant gain error

public double[] ScaleFactor

Field Value

double[]

Methods

OnBegin(double)

Called when the 'Component' is beginning

protected override void OnBegin(double time)

Parameters

time double

current time (seconds)

OnUpdate(double, double)

Called when the 'Component' should update

protected override void OnUpdate(double time, double step)

Parameters

time double

current time (seconds)

step double

the time step (seconds)