HRB Torque Mapping Software

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Class in Zendir.Classes | Inherits from Software

Declaration

class HRBTorqueMappingSoftware;

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Description

Calculates a motor torque to drive a hinged panel to a reference angle state. A sensed and reference hinged rigid body angle drives a simple PD control law.

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Properties

Declared	Description
In_HRBReferenceMsg	Reference HRB state (theta, thetaDot)
In_HRBSensedMsg	Sensed HRB state (theta, thetaDot)
K	[rad] Theta gain parameter
Out_MotorTorqueArrayMsg	Output motor torque message
P	[rad/s] Theta Dot gain parameter

Inherited	Description
IsEnabled	Is true if the object is currently enabled.
Name	The display name or tag of this object.
Parent	The currently attached parent object (if any).

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Methods

Inherited	Description
Destroy	Removes the current object from the simulation.
Disable	Disable the software componentDerived classes should clear any output messages
Enable	Enable the software component
FindParentWithID	Returns an attached parent that satisfies the specified ID.
FindParentWithType	Returns an attached parent that satisfies the specified type.
FindRootWithID	Returns a root object that satisfies the specified ID.
FindRootWithType	Returns a root object that satisfies the specified type.
Initialise	This method is called whenever some key parameters are changedand any new local variables are required to be recalculated. Thiscan be called by the software chains if a configuration of somevalues are updated.