Configuration constants and physical properties of the lift. More...

#include <modular_lift.h>

Public Attributes
float	gear_ratio
	External gear ratio applied to the motors.

float	arm_length
	Length of the lift arm.

float	arm_mass_kg
	Mass of the arm mechanism in kilograms.

float	payload_mass_kg
	Mass of the payload being lifted in kilograms.

float	kG_base
	Base gravity feed-forward gain.

float	tolerance
	Acceptable error tolerance for considering a move finished.

Eigen::Matrix< float, 1, 2 >	K
	State-feedback gain matrix [kP, kD].

float	spool_radius = 1.0f
	Radius of the spool (for cascade/elevator mechanisms)

Detailed Description

Configuration constants and physical properties of the lift.

Definition at line 38 of file modular_lift.h.

Member Data Documentation

◆ gear_ratio

float LiftConfig::gear_ratio

External gear ratio applied to the motors.

Definition at line 39 of file modular_lift.h.

◆ arm_length

float LiftConfig::arm_length

Length of the lift arm.

Definition at line 40 of file modular_lift.h.

◆ arm_mass_kg

float LiftConfig::arm_mass_kg

Mass of the arm mechanism in kilograms.

Definition at line 41 of file modular_lift.h.

◆ payload_mass_kg

float LiftConfig::payload_mass_kg

Mass of the payload being lifted in kilograms.

Definition at line 42 of file modular_lift.h.

◆ kG_base

float LiftConfig::kG_base

Base gravity feed-forward gain.

Definition at line 43 of file modular_lift.h.

◆ tolerance

float LiftConfig::tolerance

Acceptable error tolerance for considering a move finished.

Definition at line 44 of file modular_lift.h.

◆ K

Eigen::Matrix<float, 1, 2> LiftConfig::K

State-feedback gain matrix [kP, kD].

Definition at line 45 of file modular_lift.h.

◆ spool_radius

float LiftConfig::spool_radius = 1.0f

Radius of the spool (for cascade/elevator mechanisms)

Definition at line 46 of file modular_lift.h.

Public Attributes