StepperMotorMsgPayload

struct StepperMotorMsgPayload

#include <StepperMotorMsgPayload.h>

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 (number of steps taken)