Voltage Torque Conversion Software

SWITCH TO MANUAL

Class in Zendir.Classes | Inherits from Software

Declaration

class VoltageTorqueConversionSoftware;

---

Description

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

---

Properties

Declared	Description
Bias	[Nm] Bias to add to the torque output
Gain	[Nm/V] Gain to convert voltage to motor torque errors
In_MotorVoltageArrayMsg	Incoming array of voltage commands that map to torques
Out_MotorTorqueArrayMsg	Outgoing array of motor torque commands
ScaleFactor	[-] Scales the output i.e. constant gain error

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).

---

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.