Module command 

Command types for moteus motor control.

This module provides structures for each control mode supported by moteus:

• Position mode: Primary servo control mode
• Current mode: Direct torque/current control
• VFOC mode: Voltage-mode field-oriented control
• Stay-within mode: Position bounds enforcement
• Zero-velocity mode: Hold position with damping
• Brake mode: Short motor windings
• Stop mode: Disable motor output

Structs

AuxPwmCommand

AUX PWM output command.

AuxPwmFormat

Format for AUX PWM commands.

BrakeCommand

Brake mode command - shorts motor windings for braking.

CurrentCommand

DQ-axis current command.

CurrentFormat

Format for current mode commands.

OutputExactCommand

Set output position to exact value.

OutputNearestCommand

Output position setting command.

PositionCommand

Position mode command.

PositionFormat

Format (resolution) configuration for position mode commands.

RecapturePositionVelocityCommand

Recapture position and velocity command.

RequireReindexCommand

Require reindex command.

SetTrimCommand

Set clock trim command.

StayWithinCommand

Stay-within mode command.

StayWithinFormat

Format for stay-within mode commands.

StopCommand

Stop mode command - disables motor output.

VFOCCommand

Voltage-mode FOC command.

VFOCFormat

Format for VFOC mode commands.

ZeroVelocityCommand

Zero-velocity mode command.

ZeroVelocityFormat

Format for zero-velocity mode commands.