mirror of
https://github.com/BroncBotz3481/YAGSL
synced 2026-06-19 06:21:40 +00:00
386 lines
21 KiB
HTML
386 lines
21 KiB
HTML
<!DOCTYPE HTML>
|
|
<html lang="en">
|
|
<head>
|
|
<!-- Generated by javadoc (17) -->
|
|
<title>SwerveModulePhysicalCharacteristics (YAGSL-Lib API)</title>
|
|
<meta name="viewport" content="width=device-width, initial-scale=1">
|
|
<meta http-equiv="Content-Type" content="text/html; charset=utf-8">
|
|
<meta name="description" content="declaration: package: swervelib.parser, class: SwerveModulePhysicalCharacteristics">
|
|
<meta name="generator" content="javadoc/ClassWriterImpl">
|
|
<link rel="stylesheet" type="text/css" href="../../stylesheet.css" title="Style">
|
|
<link rel="stylesheet" type="text/css" href="../../script-dir/jquery-ui.min.css" title="Style">
|
|
<link rel="stylesheet" type="text/css" href="../../jquery-ui.overrides.css" title="Style">
|
|
<script type="text/javascript" src="../../script.js"></script>
|
|
<script type="text/javascript" src="../../script-dir/jquery-3.6.1.min.js"></script>
|
|
<script type="text/javascript" src="../../script-dir/jquery-ui.min.js"></script>
|
|
</head>
|
|
<body class="class-declaration-page">
|
|
<script type="text/javascript">var pathtoroot = "../../";
|
|
loadScripts(document, 'script');</script>
|
|
<noscript>
|
|
<div>JavaScript is disabled on your browser.</div>
|
|
</noscript>
|
|
<div class="flex-box">
|
|
<header role="banner" class="flex-header">
|
|
<nav role="navigation">
|
|
<!-- ========= START OF TOP NAVBAR ======= -->
|
|
<div class="top-nav" id="navbar-top">
|
|
<div class="skip-nav"><a href="#skip-navbar-top" title="Skip navigation links">Skip navigation links</a></div>
|
|
<ul id="navbar-top-firstrow" class="nav-list" title="Navigation">
|
|
<li><a href="../../index.html">Overview</a></li>
|
|
<li><a href="package-summary.html">Package</a></li>
|
|
<li class="nav-bar-cell1-rev">Class</li>
|
|
<li><a href="package-tree.html">Tree</a></li>
|
|
<li><a href="../../index-all.html">Index</a></li>
|
|
<li><a href="../../help-doc.html#class">Help</a></li>
|
|
</ul>
|
|
</div>
|
|
<div class="sub-nav">
|
|
<div>
|
|
<ul class="sub-nav-list">
|
|
<li>Summary: </li>
|
|
<li>Nested | </li>
|
|
<li><a href="#field-summary">Field</a> | </li>
|
|
<li><a href="#constructor-summary">Constr</a> | </li>
|
|
<li><a href="#method-summary">Method</a></li>
|
|
</ul>
|
|
<ul class="sub-nav-list">
|
|
<li>Detail: </li>
|
|
<li><a href="#field-detail">Field</a> | </li>
|
|
<li><a href="#constructor-detail">Constr</a> | </li>
|
|
<li>Method</li>
|
|
</ul>
|
|
</div>
|
|
<div class="nav-list-search"><label for="search-input">SEARCH:</label>
|
|
<input type="text" id="search-input" value="search" disabled="disabled">
|
|
<input type="reset" id="reset-button" value="reset" disabled="disabled">
|
|
</div>
|
|
</div>
|
|
<!-- ========= END OF TOP NAVBAR ========= -->
|
|
<span class="skip-nav" id="skip-navbar-top"></span></nav>
|
|
</header>
|
|
<div class="flex-content">
|
|
<main role="main">
|
|
<!-- ======== START OF CLASS DATA ======== -->
|
|
<div class="header">
|
|
<div class="sub-title"><span class="package-label-in-type">Package</span> <a href="package-summary.html">swervelib.parser</a></div>
|
|
<h1 title="Class SwerveModulePhysicalCharacteristics" class="title">Class SwerveModulePhysicalCharacteristics</h1>
|
|
</div>
|
|
<div class="inheritance" title="Inheritance Tree"><a href="https://docs.oracle.com/en/java/javase/17/docs/api/java.base/java/lang/Object.html" title="class or interface in java.lang" class="external-link">java.lang.Object</a>
|
|
<div class="inheritance">swervelib.parser.SwerveModulePhysicalCharacteristics</div>
|
|
</div>
|
|
<section class="class-description" id="class-description">
|
|
<hr>
|
|
<div class="type-signature"><span class="modifiers">public class </span><span class="element-name type-name-label">SwerveModulePhysicalCharacteristics</span>
|
|
<span class="extends-implements">extends <a href="https://docs.oracle.com/en/java/javase/17/docs/api/java.base/java/lang/Object.html" title="class or interface in java.lang" class="external-link">Object</a></span></div>
|
|
<div class="block">Configuration class which stores physical characteristics shared between every swerve module.</div>
|
|
</section>
|
|
<section class="summary">
|
|
<ul class="summary-list">
|
|
<!-- =========== FIELD SUMMARY =========== -->
|
|
<li>
|
|
<section class="field-summary" id="field-summary">
|
|
<h2>Field Summary</h2>
|
|
<div class="caption"><span>Fields</span></div>
|
|
<div class="summary-table three-column-summary">
|
|
<div class="table-header col-first">Modifier and Type</div>
|
|
<div class="table-header col-second">Field</div>
|
|
<div class="table-header col-last">Description</div>
|
|
<div class="col-first even-row-color"><code>final int</code></div>
|
|
<div class="col-second even-row-color"><code><a href="#angleEncoderPulsePerRotation" class="member-name-link">angleEncoderPulsePerRotation</a></code></div>
|
|
<div class="col-last even-row-color">
|
|
<div class="block">Angle motor encoder pulse per rotation.</div>
|
|
</div>
|
|
<div class="col-first odd-row-color"><code>final double</code></div>
|
|
<div class="col-second odd-row-color"><code><a href="#angleGearRatio" class="member-name-link">angleGearRatio</a></code></div>
|
|
<div class="col-last odd-row-color">
|
|
<div class="block">Angle gear ratio.</div>
|
|
</div>
|
|
<div class="col-first even-row-color"><code>final int</code></div>
|
|
<div class="col-second even-row-color"><code><a href="#angleMotorCurrentLimit" class="member-name-link">angleMotorCurrentLimit</a></code></div>
|
|
<div class="col-last even-row-color">
|
|
<div class="block">Current limits for the Swerve Module.</div>
|
|
</div>
|
|
<div class="col-first odd-row-color"><code>final double</code></div>
|
|
<div class="col-second odd-row-color"><code><a href="#angleMotorRampRate" class="member-name-link">angleMotorRampRate</a></code></div>
|
|
<div class="col-last odd-row-color">
|
|
<div class="block">The time it takes for the motor to go from 0 to full throttle in seconds.</div>
|
|
</div>
|
|
<div class="col-first even-row-color"><code>final int</code></div>
|
|
<div class="col-second even-row-color"><code><a href="#driveEncoderPulsePerRotation" class="member-name-link">driveEncoderPulsePerRotation</a></code></div>
|
|
<div class="col-last even-row-color">
|
|
<div class="block">Drive motor encoder pulse per rotation.</div>
|
|
</div>
|
|
<div class="col-first odd-row-color"><code>final double</code></div>
|
|
<div class="col-second odd-row-color"><code><a href="#driveGearRatio" class="member-name-link">driveGearRatio</a></code></div>
|
|
<div class="col-last odd-row-color">
|
|
<div class="block">Drive gear ratio.</div>
|
|
</div>
|
|
<div class="col-first even-row-color"><code>final int</code></div>
|
|
<div class="col-second even-row-color"><code><a href="#driveMotorCurrentLimit" class="member-name-link">driveMotorCurrentLimit</a></code></div>
|
|
<div class="col-last even-row-color">
|
|
<div class="block">Current limits for the Swerve Module.</div>
|
|
</div>
|
|
<div class="col-first odd-row-color"><code>final double</code></div>
|
|
<div class="col-second odd-row-color"><code><a href="#driveMotorRampRate" class="member-name-link">driveMotorRampRate</a></code></div>
|
|
<div class="col-last odd-row-color">
|
|
<div class="block">The time it takes for the motor to go from 0 to full throttle in seconds.</div>
|
|
</div>
|
|
<div class="col-first even-row-color"><code>final double</code></div>
|
|
<div class="col-second even-row-color"><code><a href="#moduleSteerFFCL" class="member-name-link">moduleSteerFFCL</a></code></div>
|
|
<div class="col-last even-row-color">
|
|
<div class="block">Angle motor kV used for second order kinematics to tune the feedforward, this variable should
|
|
be adjusted so that your drive train does not drift towards the direction you are rotating
|
|
while you translate.</div>
|
|
</div>
|
|
<div class="col-first odd-row-color"><code>final double</code></div>
|
|
<div class="col-second odd-row-color"><code><a href="#optimalVoltage" class="member-name-link">optimalVoltage</a></code></div>
|
|
<div class="col-last odd-row-color">
|
|
<div class="block">Optimal voltage of the robot.</div>
|
|
</div>
|
|
<div class="col-first even-row-color"><code>final double</code></div>
|
|
<div class="col-second even-row-color"><code><a href="#wheelDiameter" class="member-name-link">wheelDiameter</a></code></div>
|
|
<div class="col-last even-row-color">
|
|
<div class="block">Wheel diameter in meters.</div>
|
|
</div>
|
|
<div class="col-first odd-row-color"><code>final double</code></div>
|
|
<div class="col-second odd-row-color"><code><a href="#wheelGripCoefficientOfFriction" class="member-name-link">wheelGripCoefficientOfFriction</a></code></div>
|
|
<div class="col-last odd-row-color">
|
|
<div class="block">Wheel grip tape coefficient of friction on carpet, as described by the vendor.</div>
|
|
</div>
|
|
</div>
|
|
</section>
|
|
</li>
|
|
<!-- ======== CONSTRUCTOR SUMMARY ======== -->
|
|
<li>
|
|
<section class="constructor-summary" id="constructor-summary">
|
|
<h2>Constructor Summary</h2>
|
|
<div class="caption"><span>Constructors</span></div>
|
|
<div class="summary-table two-column-summary">
|
|
<div class="table-header col-first">Constructor</div>
|
|
<div class="table-header col-last">Description</div>
|
|
<div class="col-constructor-name even-row-color"><code><a href="#%3Cinit%3E(double,double,double,double,double,int,int)" class="member-name-link">SwerveModulePhysicalCharacteristics</a><wbr>(double driveGearRatio,
|
|
double angleGearRatio,
|
|
double wheelDiameter,
|
|
double driveMotorRampRate,
|
|
double angleMotorRampRate,
|
|
int driveEncoderPulsePerRotation,
|
|
int angleEncoderPulsePerRotation)</code></div>
|
|
<div class="col-last even-row-color">
|
|
<div class="block">Construct the swerve module physical characteristics.</div>
|
|
</div>
|
|
<div class="col-constructor-name odd-row-color"><code><a href="#%3Cinit%3E(double,double,double,double,double,int,int,double,double,int,int,double)" class="member-name-link">SwerveModulePhysicalCharacteristics</a><wbr>(double driveGearRatio,
|
|
double angleGearRatio,
|
|
double wheelDiameter,
|
|
double wheelGripCoefficientOfFriction,
|
|
double optimalVoltage,
|
|
int driveMotorCurrentLimit,
|
|
int angleMotorCurrentLimit,
|
|
double driveMotorRampRate,
|
|
double angleMotorRampRate,
|
|
int driveEncoderPulsePerRotation,
|
|
int angleEncoderPulsePerRotation,
|
|
double moduleSteerFFCL)</code></div>
|
|
<div class="col-last odd-row-color">
|
|
<div class="block">Construct the swerve module physical characteristics.</div>
|
|
</div>
|
|
</div>
|
|
</section>
|
|
</li>
|
|
<!-- ========== METHOD SUMMARY =========== -->
|
|
<li>
|
|
<section class="method-summary" id="method-summary">
|
|
<h2>Method Summary</h2>
|
|
<div class="inherited-list">
|
|
<h3 id="methods-inherited-from-class-java.lang.Object">Methods inherited from class java.lang.<a href="https://docs.oracle.com/en/java/javase/17/docs/api/java.base/java/lang/Object.html" title="class or interface in java.lang" class="external-link">Object</a></h3>
|
|
<code><a href="https://docs.oracle.com/en/java/javase/17/docs/api/java.base/java/lang/Object.html#clone()" title="class or interface in java.lang" class="external-link">clone</a>, <a href="https://docs.oracle.com/en/java/javase/17/docs/api/java.base/java/lang/Object.html#equals(java.lang.Object)" title="class or interface in java.lang" class="external-link">equals</a>, <a href="https://docs.oracle.com/en/java/javase/17/docs/api/java.base/java/lang/Object.html#finalize()" title="class or interface in java.lang" class="external-link">finalize</a>, <a href="https://docs.oracle.com/en/java/javase/17/docs/api/java.base/java/lang/Object.html#getClass()" title="class or interface in java.lang" class="external-link">getClass</a>, <a href="https://docs.oracle.com/en/java/javase/17/docs/api/java.base/java/lang/Object.html#hashCode()" title="class or interface in java.lang" class="external-link">hashCode</a>, <a href="https://docs.oracle.com/en/java/javase/17/docs/api/java.base/java/lang/Object.html#notify()" title="class or interface in java.lang" class="external-link">notify</a>, <a href="https://docs.oracle.com/en/java/javase/17/docs/api/java.base/java/lang/Object.html#notifyAll()" title="class or interface in java.lang" class="external-link">notifyAll</a>, <a href="https://docs.oracle.com/en/java/javase/17/docs/api/java.base/java/lang/Object.html#toString()" title="class or interface in java.lang" class="external-link">toString</a>, <a href="https://docs.oracle.com/en/java/javase/17/docs/api/java.base/java/lang/Object.html#wait()" title="class or interface in java.lang" class="external-link">wait</a>, <a href="https://docs.oracle.com/en/java/javase/17/docs/api/java.base/java/lang/Object.html#wait(long)" title="class or interface in java.lang" class="external-link">wait</a>, <a href="https://docs.oracle.com/en/java/javase/17/docs/api/java.base/java/lang/Object.html#wait(long,int)" title="class or interface in java.lang" class="external-link">wait</a></code></div>
|
|
</section>
|
|
</li>
|
|
</ul>
|
|
</section>
|
|
<section class="details">
|
|
<ul class="details-list">
|
|
<!-- ============ FIELD DETAIL =========== -->
|
|
<li>
|
|
<section class="field-details" id="field-detail">
|
|
<h2>Field Details</h2>
|
|
<ul class="member-list">
|
|
<li>
|
|
<section class="detail" id="wheelDiameter">
|
|
<h3>wheelDiameter</h3>
|
|
<div class="member-signature"><span class="modifiers">public final</span> <span class="return-type">double</span> <span class="element-name">wheelDiameter</span></div>
|
|
<div class="block">Wheel diameter in meters.</div>
|
|
</section>
|
|
</li>
|
|
<li>
|
|
<section class="detail" id="driveGearRatio">
|
|
<h3>driveGearRatio</h3>
|
|
<div class="member-signature"><span class="modifiers">public final</span> <span class="return-type">double</span> <span class="element-name">driveGearRatio</span></div>
|
|
<div class="block">Drive gear ratio. How many times the motor has to spin before the wheel makes a complete
|
|
rotation.</div>
|
|
</section>
|
|
</li>
|
|
<li>
|
|
<section class="detail" id="angleGearRatio">
|
|
<h3>angleGearRatio</h3>
|
|
<div class="member-signature"><span class="modifiers">public final</span> <span class="return-type">double</span> <span class="element-name">angleGearRatio</span></div>
|
|
<div class="block">Angle gear ratio. How many times the motor has to spin before the wheel makes a full rotation.</div>
|
|
</section>
|
|
</li>
|
|
<li>
|
|
<section class="detail" id="driveEncoderPulsePerRotation">
|
|
<h3>driveEncoderPulsePerRotation</h3>
|
|
<div class="member-signature"><span class="modifiers">public final</span> <span class="return-type">int</span> <span class="element-name">driveEncoderPulsePerRotation</span></div>
|
|
<div class="block">Drive motor encoder pulse per rotation. 1 if integrated encoder.</div>
|
|
</section>
|
|
</li>
|
|
<li>
|
|
<section class="detail" id="angleEncoderPulsePerRotation">
|
|
<h3>angleEncoderPulsePerRotation</h3>
|
|
<div class="member-signature"><span class="modifiers">public final</span> <span class="return-type">int</span> <span class="element-name">angleEncoderPulsePerRotation</span></div>
|
|
<div class="block">Angle motor encoder pulse per rotation. 1 for Neo encoder. 2048 for Falcons.</div>
|
|
</section>
|
|
</li>
|
|
<li>
|
|
<section class="detail" id="optimalVoltage">
|
|
<h3>optimalVoltage</h3>
|
|
<div class="member-signature"><span class="modifiers">public final</span> <span class="return-type">double</span> <span class="element-name">optimalVoltage</span></div>
|
|
<div class="block">Optimal voltage of the robot.</div>
|
|
</section>
|
|
</li>
|
|
<li>
|
|
<section class="detail" id="driveMotorCurrentLimit">
|
|
<h3>driveMotorCurrentLimit</h3>
|
|
<div class="member-signature"><span class="modifiers">public final</span> <span class="return-type">int</span> <span class="element-name">driveMotorCurrentLimit</span></div>
|
|
<div class="block">Current limits for the Swerve Module.</div>
|
|
</section>
|
|
</li>
|
|
<li>
|
|
<section class="detail" id="angleMotorCurrentLimit">
|
|
<h3>angleMotorCurrentLimit</h3>
|
|
<div class="member-signature"><span class="modifiers">public final</span> <span class="return-type">int</span> <span class="element-name">angleMotorCurrentLimit</span></div>
|
|
<div class="block">Current limits for the Swerve Module.</div>
|
|
</section>
|
|
</li>
|
|
<li>
|
|
<section class="detail" id="driveMotorRampRate">
|
|
<h3>driveMotorRampRate</h3>
|
|
<div class="member-signature"><span class="modifiers">public final</span> <span class="return-type">double</span> <span class="element-name">driveMotorRampRate</span></div>
|
|
<div class="block">The time it takes for the motor to go from 0 to full throttle in seconds.</div>
|
|
</section>
|
|
</li>
|
|
<li>
|
|
<section class="detail" id="angleMotorRampRate">
|
|
<h3>angleMotorRampRate</h3>
|
|
<div class="member-signature"><span class="modifiers">public final</span> <span class="return-type">double</span> <span class="element-name">angleMotorRampRate</span></div>
|
|
<div class="block">The time it takes for the motor to go from 0 to full throttle in seconds.</div>
|
|
</section>
|
|
</li>
|
|
<li>
|
|
<section class="detail" id="wheelGripCoefficientOfFriction">
|
|
<h3>wheelGripCoefficientOfFriction</h3>
|
|
<div class="member-signature"><span class="modifiers">public final</span> <span class="return-type">double</span> <span class="element-name">wheelGripCoefficientOfFriction</span></div>
|
|
<div class="block">Wheel grip tape coefficient of friction on carpet, as described by the vendor.</div>
|
|
</section>
|
|
</li>
|
|
<li>
|
|
<section class="detail" id="moduleSteerFFCL">
|
|
<h3>moduleSteerFFCL</h3>
|
|
<div class="member-signature"><span class="modifiers">public final</span> <span class="return-type">double</span> <span class="element-name">moduleSteerFFCL</span></div>
|
|
<div class="block">Angle motor kV used for second order kinematics to tune the feedforward, this variable should
|
|
be adjusted so that your drive train does not drift towards the direction you are rotating
|
|
while you translate. When set to 0 the calculated kV will be used.</div>
|
|
</section>
|
|
</li>
|
|
</ul>
|
|
</section>
|
|
</li>
|
|
<!-- ========= CONSTRUCTOR DETAIL ======== -->
|
|
<li>
|
|
<section class="constructor-details" id="constructor-detail">
|
|
<h2>Constructor Details</h2>
|
|
<ul class="member-list">
|
|
<li>
|
|
<section class="detail" id="<init>(double,double,double,double,double,int,int,double,double,int,int,double)">
|
|
<h3>SwerveModulePhysicalCharacteristics</h3>
|
|
<div class="member-signature"><span class="modifiers">public</span> <span class="element-name">SwerveModulePhysicalCharacteristics</span><wbr><span class="parameters">(double driveGearRatio,
|
|
double angleGearRatio,
|
|
double wheelDiameter,
|
|
double wheelGripCoefficientOfFriction,
|
|
double optimalVoltage,
|
|
int driveMotorCurrentLimit,
|
|
int angleMotorCurrentLimit,
|
|
double driveMotorRampRate,
|
|
double angleMotorRampRate,
|
|
int driveEncoderPulsePerRotation,
|
|
int angleEncoderPulsePerRotation,
|
|
double moduleSteerFFCL)</span></div>
|
|
<div class="block">Construct the swerve module physical characteristics.</div>
|
|
<dl class="notes">
|
|
<dt>Parameters:</dt>
|
|
<dd><code>driveGearRatio</code> - Gear ratio of the drive motor. Number of motor rotations to rotate the
|
|
wheel.</dd>
|
|
<dd><code>angleGearRatio</code> - Gear ratio of the angle motor. Number of motor rotations to spin the
|
|
wheel.</dd>
|
|
<dd><code>wheelDiameter</code> - Wheel diameter in meters.</dd>
|
|
<dd><code>wheelGripCoefficientOfFriction</code> - Wheel grip coefficient of friction on carpet given by
|
|
manufacturer.</dd>
|
|
<dd><code>optimalVoltage</code> - Optimal robot voltage.</dd>
|
|
<dd><code>driveMotorCurrentLimit</code> - Current limit for the drive motor.</dd>
|
|
<dd><code>angleMotorCurrentLimit</code> - Current limit for the angle motor.</dd>
|
|
<dd><code>driveMotorRampRate</code> - The time in seconds to go from 0 to full throttle on the motor.
|
|
(Prevents over drawing power from battery)</dd>
|
|
<dd><code>angleMotorRampRate</code> - The time in seconds to go from 0 to full throttle on the motor.
|
|
(Prevents overdrawing power and power loss).</dd>
|
|
<dd><code>driveEncoderPulsePerRotation</code> - The number of encoder pulses per motor rotation, 1 for
|
|
integrated encoders.</dd>
|
|
<dd><code>angleEncoderPulsePerRotation</code> - The number of encoder pulses per motor rotation, 1 for
|
|
integrated encoders.</dd>
|
|
<dd><code>moduleSteerFFCL</code> - The kV applied to the steering motor to ensure your drivetrain does not
|
|
drift towards a direction when rotating while translating.</dd>
|
|
</dl>
|
|
</section>
|
|
</li>
|
|
<li>
|
|
<section class="detail" id="<init>(double,double,double,double,double,int,int)">
|
|
<h3>SwerveModulePhysicalCharacteristics</h3>
|
|
<div class="member-signature"><span class="modifiers">public</span> <span class="element-name">SwerveModulePhysicalCharacteristics</span><wbr><span class="parameters">(double driveGearRatio,
|
|
double angleGearRatio,
|
|
double wheelDiameter,
|
|
double driveMotorRampRate,
|
|
double angleMotorRampRate,
|
|
int driveEncoderPulsePerRotation,
|
|
int angleEncoderPulsePerRotation)</span></div>
|
|
<div class="block">Construct the swerve module physical characteristics. Assume coefficient of friction is 1.19
|
|
(taken from blue nitrile on carpet from Studica) and optimal voltage is 12v. Assumes the drive
|
|
motor current limit is 40A, and the angle motor current limit is 20A.</div>
|
|
<dl class="notes">
|
|
<dt>Parameters:</dt>
|
|
<dd><code>driveGearRatio</code> - Gear ratio of the drive motor. Number of motor rotations to rotate the
|
|
wheel.</dd>
|
|
<dd><code>angleGearRatio</code> - Gear ratio of the angle motor. Number of motor rotations to spin the
|
|
wheel.</dd>
|
|
<dd><code>wheelDiameter</code> - Wheel diameter in meters.</dd>
|
|
<dd><code>driveMotorRampRate</code> - The time in seconds to go from 0 to full throttle on the motor.
|
|
(Prevents over drawing power from battery)</dd>
|
|
<dd><code>angleMotorRampRate</code> - The time in seconds to go from 0 to full throttle on the motor.
|
|
(Prevents overdrawing power and power loss).</dd>
|
|
<dd><code>driveEncoderPulsePerRotation</code> - The number of encoder pulses per motor rotation, 1 for
|
|
integrated encoders.</dd>
|
|
<dd><code>angleEncoderPulsePerRotation</code> - The number of encoder pulses per motor rotation, 1 for
|
|
integrated encoders.</dd>
|
|
</dl>
|
|
</section>
|
|
</li>
|
|
</ul>
|
|
</section>
|
|
</li>
|
|
</ul>
|
|
</section>
|
|
<!-- ========= END OF CLASS DATA ========= -->
|
|
</main>
|
|
</div>
|
|
</div>
|
|
</body>
|
|
</html>
|