Steer Struct Reference

Steering raw data. More...

#include <objects.h>

Public Attributes
uint16_t	steerPos
	Steering angle (in bits).
uint16_t	steerVel
	Steering rate (in bits).
float	steerVel_offset
	Steering rate offset (in rad/s).

Detailed Description

Steering raw data.

The struct contains the raw data from the steering sensors.

• Steering angle and rate are in bits.
• Steering rate offset is in rad/s.

See also

Constants Macros

Member Data Documentation

steerPos

uint16_t Steer::steerPos

Steering angle (in bits).

Measured value from ADC at the steering shaft.

See also

STEER_POS CONVERT_STEERPOS_TO_RAD

steerVel

uint16_t Steer::steerVel

Steering rate (in bits).

Measured value from ADC at the steer-motor shaft.

See also

STEER_SPEED CONVERT_STEERVEL_TO_RADPS STEERVEL_RATIO

steerVel_offset

float Steer::steerVel_offset

Steering rate offset (in rad/s).

The value is found from a zero procedure at the startup.

See also

do_zeros()