StepperMotorMsgPayload

struct StepperMotorMsgPayload

Structure containing stepper motor state information.

Public Members

double theta

[rad] Current motor angle

double thetaDot

[rad/s] Current motor angle rate

double thetaDDot

[rad/s^2] Current motor angular acceleration

int stepsCommanded

Current number of commanded motor steps.

int stepCount

Current motor step count within the active command (resets to 0 at each new command)

int motorPosition

[steps] Absolute motor position; cumulative net signed step count, never reset

bool isMotorMoving

indicator whether the motor is moving