================================
ActuatorConfig
================================
    
.. py:currentmodule:: kortex_api.autogen

.. _ActuatorConfigAxisPosition:

.. py:class:: AxisPosition

    Axis position

   :canonical: kortex_api.autogen.messages.ActuatorConfig_pb2.AxisPosition

   :param position:   Axis position (degrees)
   :type position: :ref:`float <>` 

.. _ActuatorConfigAxisOffsets:

.. py:class:: AxisOffsets

    Axis offsets

   :canonical: kortex_api.autogen.messages.ActuatorConfig_pb2.AxisOffsets

   :param absolute_offset:   Absolute offset value (degrees)
   :type absolute_offset: :ref:`float <>` 

   :param relative_offset:   Relative offset value (degrees)
   :type relative_offset: :ref:`float <>` 

.. _ActuatorConfigTorqueCalibration:

.. py:class:: TorqueCalibration

    Torque calibration settings

   :canonical: kortex_api.autogen.messages.ActuatorConfig_pb2.TorqueCalibration

   :param global_gain:   Global gain value
   :type global_gain: :ref:`float <>` 

   :param global_offset:   Global offset value
   :type global_offset: :ref:`float <>` 

   :param gain:   Gain (index 0 to 3)
   :type gain: :ref:`float <>` [ ]

   :param offset:   Offset (index 0 to 3)
   :type offset: :ref:`float <>` [ ]

.. _ActuatorConfigTorqueOffset:

.. py:class:: TorqueOffset

    Defines torque offset

   :canonical: kortex_api.autogen.messages.ActuatorConfig_pb2.TorqueOffset

   :param torque_offset:   Torque offset value
   :type torque_offset: :ref:`float <>` 

.. _ActuatorConfigControlModeInformation:

.. py:class:: ControlModeInformation

    Control mode information

   :canonical: kortex_api.autogen.messages.ActuatorConfig_pb2.ControlModeInformation

   :param control_mode:   Control mode
   :type control_mode: :ref:`ControlMode <ActuatorConfigControlMode>` 

.. _ActuatorConfigControlLoop:

.. py:class:: ControlLoop

    Control loop

   :canonical: kortex_api.autogen.messages.ActuatorConfig_pb2.ControlLoop

   :param control_loop:   Use ControlLoopSelection enum values to form bitmask
   :type control_loop: :ref:`int <>` 

.. _ActuatorConfigLoopSelection:

.. py:class:: LoopSelection

    Defines the loop selection

   :canonical: kortex_api.autogen.messages.ActuatorConfig_pb2.LoopSelection

   :param loop_selection:   ControlLoopSelection enum
   :type loop_selection: :ref:`ControlLoopSelection <ActuatorConfigControlLoopSelection>` 

.. _ActuatorConfigVectorDriveParameters:

.. py:class:: VectorDriveParameters

    Field-oriented control PI controller gain values

   :canonical: kortex_api.autogen.messages.ActuatorConfig_pb2.VectorDriveParameters

   :param kpq:   Quadrature axis current proportional gain
   :type kpq: :ref:`float <>` 

   :param kiq:   Quadrature axis current integral gain
   :type kiq: :ref:`float <>` 

   :param kpd:   Direct axis current proportional gain
   :type kpd: :ref:`float <>` 

   :param kid:   Direct axis current integral gain
   :type kid: :ref:`float <>` 

.. _ActuatorConfigEncoderDerivativeParameters:

.. py:class:: EncoderDerivativeParameters

    Variable window derivative parameters

   :canonical: kortex_api.autogen.messages.ActuatorConfig_pb2.EncoderDerivativeParameters

   :param max_window_width:   Maximum window width
   :type max_window_width: :ref:`int <>` 

   :param min_angle:   Minimum angle for derivative (degrees)
   :type min_angle: :ref:`float <>` 

.. _ActuatorConfigControlLoopParameters:

.. py:class:: ControlLoopParameters

    Control loop parameters (discrete transfer function)

   :canonical: kortex_api.autogen.messages.ActuatorConfig_pb2.ControlLoopParameters

   :param loop_selection:   ControlLoopSelection enum
   :type loop_selection: :ref:`ControlLoopSelection <ActuatorConfigControlLoopSelection>` 

   :param error_saturation:   Error saturation value
   :type error_saturation: :ref:`float <>` 

   :param output_saturation:   Output saturation value
   :type output_saturation: :ref:`float <>` 

   :param kAz:   KAz (index 0 to 4): denominator gains A1 to A5
   :type kAz: :ref:`float <>` [ ]

   :param kBz:   KBz (index 0 to 5): numerator gains B0 to B5
   :type kBz: :ref:`float <>` [ ]

   :param error_dead_band:   Error dead band value
   :type error_dead_band: :ref:`float <>` 

   :param k_p:   Proportional gain
   :type k_p: :ref:`float <>` 

   :param k_i:   Integral gain
   :type k_i: :ref:`float <>` 

   :param k_d:   Derivative gain
   :type k_d: :ref:`float <>` 

.. _ActuatorConfigFrequencyResponse:

.. py:class:: FrequencyResponse

    Frequency response

   :canonical: kortex_api.autogen.messages.ActuatorConfig_pb2.FrequencyResponse

   :param loop_selection:   ControlLoopSelection enum
   :type loop_selection: :ref:`ControlLoopSelection <ActuatorConfigControlLoopSelection>` 

   :param min_frequency:   Minimum frequency value
   :type min_frequency: :ref:`float <>` 

   :param max_frequency:   Maximum frequency value
   :type max_frequency: :ref:`float <>` 

   :param amplitude:   Amplitude value
   :type amplitude: :ref:`float <>` 

   :param duration:   Duration (in seconds)
   :type duration: :ref:`float <>` 

.. _ActuatorConfigStepResponse:

.. py:class:: StepResponse

    Step response

   :canonical: kortex_api.autogen.messages.ActuatorConfig_pb2.StepResponse

   :param loop_selection:   ControlLoopSelection enum
   :type loop_selection: :ref:`ControlLoopSelection <ActuatorConfigControlLoopSelection>` 

   :param amplitude:   Amplitude value
   :type amplitude: :ref:`float <>` 

   :param step_delay:   Step delay value
   :type step_delay: :ref:`float <>` 

   :param duration:   Duration (in seconds)
   :type duration: :ref:`float <>` 

.. _ActuatorConfigRampResponse:

.. py:class:: RampResponse

    Ramp response

   :canonical: kortex_api.autogen.messages.ActuatorConfig_pb2.RampResponse

   :param loop_selection:   ControlLoopSelection enum
   :type loop_selection: :ref:`ControlLoopSelection <ActuatorConfigControlLoopSelection>` 

   :param slope:   Slope value
   :type slope: :ref:`float <>` 

   :param ramp_delay:   Ramp delay value
   :type ramp_delay: :ref:`float <>` 

   :param duration:   Duration (in seconds)
   :type duration: :ref:`float <>` 

.. _ActuatorConfigCustomDataSelection:

.. py:class:: CustomDataSelection

    Selected custom data channels content

   :canonical: kortex_api.autogen.messages.ActuatorConfig_pb2.CustomDataSelection

   :param channel:   16 channels maximum
   :type channel: :ref:`CustomDataIndex <ActuatorConfigCustomDataIndex>` [ ]

.. _ActuatorConfigCommandModeInformation:

.. py:class:: CommandModeInformation

    Command mode

   :canonical: kortex_api.autogen.messages.ActuatorConfig_pb2.CommandModeInformation

   :param command_mode:   Command mode
   :type command_mode: :ref:`CommandMode <ActuatorConfigCommandMode>` 

.. _ActuatorConfigServoing:

.. py:class:: Servoing

    Enables/disables servoing

   :canonical: kortex_api.autogen.messages.ActuatorConfig_pb2.Servoing

   :param enabled:   Servoing enabled
   :type enabled: :ref:`bool <>` 

.. _ActuatorConfigPositionCommand:

.. py:class:: PositionCommand

    Angular position command for an actuator

   :canonical: kortex_api.autogen.messages.ActuatorConfig_pb2.PositionCommand

   :param position:   Position value (degrees)
   :type position: :ref:`float <>` 

   :param velocity:   Velocity value (degrees per second)
   :type velocity: :ref:`float <>` 

   :param acceleration:   Acceleration value (degrees per second^2)
   :type acceleration: :ref:`float <>` 

.. _ActuatorConfigCoggingFeedforwardModeInformation:

.. py:class:: CoggingFeedforwardModeInformation

    Cogging feedforward mode

   :canonical: kortex_api.autogen.messages.ActuatorConfig_pb2.CoggingFeedforwardModeInformation

   :param cogging_feedforward_mode:   Cogging feedforward mode
   :type cogging_feedforward_mode: :ref:`CoggingFeedforwardMode <ActuatorConfigCoggingFeedforwardMode>` 

.. _ActuatorConfigLookupTableReadData:

.. py:class:: LookupTableReadData

    Lookup table parameters to read with

   :canonical: kortex_api.autogen.messages.ActuatorConfig_pb2.LookupTableReadData

   :param table_selection:   Lookup table selection
   :type table_selection: :ref:`LookupTableSelection <ActuatorConfigLookupTableSelection>` 

   :param table_offset:   Offset of data in table
   :type table_offset: :ref:`int <>` 

   :param table_length:   Length of calibration data
   :type table_length: :ref:`int <>` 

   :param data_selection:   Lookup table data selection
   :type data_selection: :ref:`LookupTableDataSelection <ActuatorConfigLookupTableDataSelection>` 

.. _ActuatorConfigLookupTableWriteData:

.. py:class:: LookupTableWriteData

    Lookup table data to write and parameters

   :canonical: kortex_api.autogen.messages.ActuatorConfig_pb2.LookupTableWriteData

   :param table_selection:   Lookup table selection
   :type table_selection: :ref:`LookupTableSelection <ActuatorConfigLookupTableSelection>` 

   :param table_offset:   Offset of data in table
   :type table_offset: :ref:`int <>` 

   :param table_length:   Length of calibration data
   :type table_length: :ref:`int <>` 

   :param data:   Lookup table data
   :type data: :ref:`LookupTableData <ActuatorConfigLookupTableData>` 

   :param data_selection:   Lookup table data selection
   :type data_selection: :ref:`LookupTableDataSelection <ActuatorConfigLookupTableDataSelection>` 

.. _ActuatorConfigLookupTableData:

.. py:class:: LookupTableData

    Lookup table data

   :canonical: kortex_api.autogen.messages.ActuatorConfig_pb2.LookupTableData

   :param data:   Lookup data array (max 128)
   :type data: :ref:`bytes <>` 

   :param size:   Lookup data array size
   :type size: :ref:`int <>` 

.. _ActuatorConfigLookupTableSelectionForNVM:

.. py:class:: LookupTableSelectionForNVM

    Lookup table selection to access NVM

   :canonical: kortex_api.autogen.messages.ActuatorConfig_pb2.LookupTableSelectionForNVM

   :param table_selection:   Lookup table selection
   :type table_selection: :ref:`LookupTableSelection <ActuatorConfigLookupTableSelection>` 

.. _ActuatorConfigFourierModelData:

.. py:class:: FourierModelData

    Fourier model data

   :canonical: kortex_api.autogen.messages.ActuatorConfig_pb2.FourierModelData

   :param frequencies:   Frequencies
   :type frequencies: :ref:`float <>` [ ]

   :param offsets:   Offsets
   :type offsets: :ref:`float <>` [ ]

   :param amplitudes:   Amplitudes
   :type amplitudes: :ref:`float <>` [ ]

.. _ActuatorConfigFourierModelReadSelection:

.. py:class:: FourierModelReadSelection

    Fourier model parameters to read with

   :canonical: kortex_api.autogen.messages.ActuatorConfig_pb2.FourierModelReadSelection

   :param model_selection:   Fourier model selection
   :type model_selection: :ref:`FourierModelSelection <ActuatorConfigFourierModelSelection>` 

.. _ActuatorConfigFourierModelWriteData:

.. py:class:: FourierModelWriteData

    Fourier model to write

   :canonical: kortex_api.autogen.messages.ActuatorConfig_pb2.FourierModelWriteData

   :param model_selection:   Fourier model selection
   :type model_selection: :ref:`FourierModelSelection <ActuatorConfigFourierModelSelection>` 

   :param model_data:   Fourier model data
   :type model_data: :ref:`FourierModelData <ActuatorConfigFourierModelData>` 

.. _ActuatorConfigGearboxHysteresisCalibrationData:

.. py:class:: GearboxHysteresisCalibrationData

    Gearbox hysteresis calibration data

   :canonical: kortex_api.autogen.messages.ActuatorConfig_pb2.GearboxHysteresisCalibrationData

   :param friction_coulomb:   Friction
   :type friction_coulomb: :ref:`float <>` 

   :param spring_ratio:   Spring ratio
   :type spring_ratio: :ref:`float <>` 

.. _ActuatorConfigJointPositionSensorOffset:

.. py:class:: JointPositionSensorOffset

    Joint position sensor offset

   :canonical: kortex_api.autogen.messages.ActuatorConfig_pb2.JointPositionSensorOffset

   :param offset:   Sensor offset
   :type offset: :ref:`float <>` 

.. _ActuatorConfigMotorPositionToJointPositionSensorOffset:

.. py:class:: MotorPositionToJointPositionSensorOffset

    Offset between motor and joint position sensors

   :canonical: kortex_api.autogen.messages.ActuatorConfig_pb2.MotorPositionToJointPositionSensorOffset

   :param offset:   Sensor to sensor offset
   :type offset: :ref:`float <>` 

.. _ActuatorConfigMotorPowerFilterPeriod:

.. py:class:: MotorPowerFilterPeriod

    Motor power measurement filter period

   :canonical: kortex_api.autogen.messages.ActuatorConfig_pb2.MotorPowerFilterPeriod

   :param period:   Filter period (milliseconds)
   :type period: :ref:`int <>` 

.. _ActuatorConfigCurrentOffset:

.. py:class:: CurrentOffset

    Current offset of a current sensor

   :canonical: kortex_api.autogen.messages.ActuatorConfig_pb2.CurrentOffset

   :param phase:   Phase of the current sensor to set offset for (index 0 to 2)
   :type phase: :ref:`int <>` 

   :param offset:   Current sensor offset (Amps)
   :type offset: :ref:`float <>` 

.. _ActuatorConfigJointEncoderFaults:

.. py:class:: JointEncoderFaults

    Joint encoder faults

   :canonical: kortex_api.autogen.messages.ActuatorConfig_pb2.JointEncoderFaults

   :param warnings:   Warnings (bitmask)
   :type warnings: :ref:`int <>` 

   :param errors:   Errors (bitmask)
   :type errors: :ref:`int <>` 

.. _ActuatorConfigMotorParameters:

.. py:class:: MotorParameters

    Motor parameters

   :canonical: kortex_api.autogen.messages.ActuatorConfig_pb2.MotorParameters

   :param rotor_inertia:   Rotor inertia (kilograms meters^squared)
   :type rotor_inertia: :ref:`float <>` 

.. _ActuatorConfigGearboxParameters:

.. py:class:: GearboxParameters

    Gearbox parameters

   :canonical: kortex_api.autogen.messages.ActuatorConfig_pb2.GearboxParameters

   :param gear_ratio:   Gear ratio
   :type gear_ratio: :ref:`float <>`