Map between servos, their busses and the joints they actuate. More...

#include <ServoLayout.h>

Public Member Functions
void	add_servo (const int servo_id, const int bus_id, const std::string &joint_name, const double maximum_torque)
	Add a servo to the layout. More...

const std::map< int, int > &	servo_bus_map () const noexcept
	Get the full servo-bus map.

const std::map< int, ServoProperties > &	servo_props_map () const noexcept
	Get the full servo-joint map.

size_t	size () const noexcept
	Get the number of servos in the layout.

Detailed Description

Map between servos, their busses and the joints they actuate.

Member Function Documentation

void upkie::cpp::actuation::ServoLayout::add_servo	(	const int	servo_id,
		const int	bus_id,
		const std::string &	joint_name,
		const double	maximum_torque
	)

inline

Add a servo to the layout.

Parameters

[in]	servo_id	Servo ID (`id.id` for moteus)
[in]	bus_id	CAN bus the servo is connected to.
[in]	joint_name	Name of the joint the servo actuates.
[in]	maximum_torque	Maximum torque the servo can exert, in [N m].

The documentation for this class was generated from the following file: