Table of Contents

Class VoltageTorqueConversionSoftware

Namespace
NominalSystems.Classes
Assembly
NominalSystems.Classes.dll

[Nominal] This module translates incoming voltage commands into torques commands. This was previously the Motor Voltage Device Interface class.

public class VoltageTorqueConversionSoftware : Software
Inheritance
VoltageTorqueConversionSoftware

Constructors

VoltageTorqueConversionSoftware()

Default constructor

protected VoltageTorqueConversionSoftware()

Fields

Bias

[Nm] Bias to add to the torque output

[Unit(UnitType.NEWTON_METRE)]
public double[] Bias

Field Value

double[]

Gain

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

[Unit("Nm/V")]
public double[] Gain

Field Value

double[]

In_MotorVoltageArrayMsg

Incoming array of voltage commands that map to torques

public MotorVoltageArrayMessage? In_MotorVoltageArrayMsg

Field Value

MotorVoltageArrayMessage

Out_MotorTorqueArrayMsg

Outgoing array of motor torque commands

public MotorTorqueArrayMessage? Out_MotorTorqueArrayMsg

Field Value

MotorTorqueArrayMessage

ScaleFactor

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

[Unit(UnitType.NONE)]
public double[] ScaleFactor

Field Value

double[]

Methods

OnCreate()

Called when the object is created from the controller and has been attached to the parent object. By this point, it has been registered to the simulation and will run after the constructor.

protected override void OnCreate()

OnUpdate(double, double)

Called when the object should update from the simulation tick. This will take in a time and a step, where the time is the time of the clock before updating the object.

protected override void OnUpdate(double time, double step)

Parameters

time double

[s] Current time of the simulation before the update

step double

[s] The time-step to update during this tick