yams::gearing::MechanismGearing Class Reference

#include <MechanismGearing.hpp>

Collaboration diagram for yams::gearing::MechanismGearing:

Public Member Functions
	MechanismGearing (double reductionRatio)
	MechanismGearing (const GearBox &gearBox)
	MechanismGearing (const GearBox &gearBox, const Sprocket &sprockets)
double	GetRotorToMechanismRatio () const
double	GetMechanismToRotorRatio () const
MechanismGearing &	Div (double i)

Static Public Attributes
static const MechanismGearing	kOne

Detailed Description

Mechanism gearing for conversions from the motor rotor to the mechanism output.

Combines an optional GearBox and an optional Sprocket chain to produce a single rotor-to-mechanism ratio used by the motor controller configuration.

Constructor & Destructor Documentation

MechanismGearing() [1/3]

yams::gearing::MechanismGearing::MechanismGearing ( double  reductionRatio )

explicit

Construct a MechanismGearing with a single reduction ratio.

Parameters

reductionRatio

Reduction ratio (e.g. 3.0 for 3:1, 0.5 for 1:2).

MechanismGearing() [2/3]

yams::gearing::MechanismGearing::MechanismGearing ( const GearBox &  gearBox )

explicit

Construct a MechanismGearing with only a GearBox attached to the motor.

Parameters

gearBox

GearBox of the mechanism.

MechanismGearing() [3/3]

yams::gearing::MechanismGearing::MechanismGearing	(	const GearBox &	gearBox,
		const Sprocket &	sprockets
	)

Construct a MechanismGearing with a GearBox and a downstream Sprocket chain.

Parameters

gearBox	GearBox attached to the motor.
sprockets	Sprocket chain attached to the gearbox output.

Member Function Documentation

Div()

MechanismGearing & yams::gearing::MechanismGearing::Div

(

double

i

)

Divide the gearbox reduction ratio by i.

Parameters

i

Divisor.

Returns

*this for chaining.

GetMechanismToRotorRatio()

double yams::gearing::MechanismGearing::GetMechanismToRotorRatio

(

)

const

Get the mechanism-to-rotor ratio (IN/OUT), i.e. the overall reduction.

Returns

IN/OUT ratio to use for mechanism-to-sensor calculations.

GetRotorToMechanismRatio()

double yams::gearing::MechanismGearing::GetRotorToMechanismRatio

(

)

const

Get the rotor-to-mechanism ratio (OUT/IN).

Returns

OUT/IN ratio to use for sensor-to-mechanism calculations.

Member Data Documentation

kOne

const MechanismGearing yams::gearing::MechanismGearing::kOne

static

1:1 MechanismGearing (no reduction).

---

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

• /home/runner/work/YAMS/YAMS/yams/cpp/include/yams/gearing/MechanismGearing.hpp