Struct StandardMotorParameters

Defined in File trossen_arm_type.hpp

Struct Documentation

struct StandardMotorParameters

Motor parameters commonly used.

Public Static Attributes

static const std::vector<std::map<Mode, MotorParameter>> wxai_v0_20250509

WXAI V0 motor parameters first used in 2025-05-09.

Manually chosen parameters at the beginning of the development

static const std::vector<std::map<Mode, MotorParameter>> wxai_v0_20260317

WXAI V0 motor parameters first used in 2026-03-17.

Reduced proportional gains for position loop of the first three joints and removed integral gains for the velocity loop from all joints compared to wxai_v0_20250509

static const std::vector<std::map<Mode, MotorParameter>> &wxai_v0_latest = {wxai_v0_20260317}: Latest motor parameters for WXAI V0.

static const std::vector<std::map<Mode, MotorParameter>> &wxai_v0_default = {wxai_v0_20260317}: Default motor parameters for WXAI V0.