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commands

std::cout << "##### PID Parameters ##### \n" << std::endl;
    std::cout << "getPidParameterPositionRingP: " << actuator.getPidParameterPositionRingP() << std::endl;
    std::cout << "getPidParameterPositionRingI: " << actuator.getPidParameterPositionRingI() << std::endl;
    std::cout << "getPidParameterPositionRingD: " << actuator.getPidParameterPositionRingD() << std::endl;
    std::cout << "getPidParameterPositionLoopSlope: " << actuator.getPidParameterPositionLoopSlope() << std::endl;
    std::cout << "getPidParameterPositionLoopFilterPeriod: " << actuator.getPidParameterPositionLoopFilterPeriod() << std::endl;
    std::cout << "getPidParameterSpeedRingP: " << actuator.getPidParameterSpeedRingP() << std::endl;
    std::cout << "getPidParameterSpeedLoopI: " << actuator.getPidParameterSpeedLoopI() << std::endl;
    std::cout << "getPidParameterSpeedRingD: " << actuator.getPidParameterSpeedRingD() << std::endl;
    std::cout << "getPidParameterSpeedLoopSlope: " << actuator.getPidParameterSpeedLoopSlope() << std::endl;
    std::cout << "getPidParameterSpeedLoopFilterPeriod: " << actuator.getPidParameterSpeedLoopFilterPeriod() << std::endl;
    std::cout << "getPidParameterQAxisCurrentLoopP: " << actuator.getPidParameterQAxisCurrentLoopP() << std::endl;
    std::cout << "getPidParameterQAxisCurrentLoopI: " << actuator.getPidParameterQAxisCurrentLoopI() << std::endl;
    std::cout << "getPidParameterQAxisCurrentLoopD: " << actuator.getPidParameterQAxisCurrentLoopD() << std::endl;
    std::cout << "getPidParameterQAxisCurrentLoopSlope: " << actuator.getPidParameterQAxisCurrentLoopSlope() << std::endl;
    std::cout << "getPidParameterQAxisCurrentLoopFilterPeriod: " << actuator.getPidParameterQAxisCurrentLoopFilterPeriod() << std::endl;
    std::cout << "getPidParameterDAxisCurrentLoopP: " << actuator.getPidParameterDAxisCurrentLoopP() << std::endl;
    std::cout << "getPidParameterDAxisCurrentLoopI: " << actuator.getPidParameterDAxisCurrentLoopI() << std::endl;
    std::cout << "getPidParameterDAxisCurrentLoopD: " << actuator.getPidParameterDAxisCurrentLoopD() << std::endl;
    std::cout << "getPidParameterDAxisCurrentLoopSlope: " << actuator.getPidParameterDAxisCurrentLoopSlope() << std::endl;
    std::cout << "getPidParameterDAxisCurrentLoopFilterPeriod: " << actuator.getPidParameterDAxisCurrentLoopFilterPeriod() << std::endl;

    std::cout << "\n\n##### RESTRICTION Parameters #####\n" << std::endl;
    std::cout << "getRestrictionParameterMotorTemperatureLimit: " << actuator.getRestrictionParameterMotorTemperatureLimit() << std::endl;
    std::cout << "getRestrictionParameterMotorVoltageLimit: " << actuator.getRestrictionParameterMotorVoltageLimit() << std::endl;
    std::cout << "getRestrictionParameterMotorCurrentLimit: " << actuator.getRestrictionParameterMotorCurrentLimit() << std::endl;
    std::cout << "getRestrictionParameterMotorSpeedLimit: " << actuator.getRestrictionParameterMotorSpeedLimit() << std::endl;
    std::cout << "getRestrictionParameterMotorPositionLimitMin: " << actuator.getRestrictionParameterMotorPositionLimitMin() << std::endl;
    std::cout << "getRestrictionParameterMotorPositionLimitMax: " << actuator.getRestrictionParameterMotorPositionLimitMax() << std::endl;
    std::cout << "getRestrictionParameterBrakeStart: " << actuator.getRestrictionParameterBrakeStart() << std::endl;
    std::cout << "getRestrictionParameterBrakeMaintenance: " << actuator.getRestrictionParameterBrakeMaintenance() << std::endl;
    std::cout << "getRestrictionParameterOvervoltageValue: " << actuator.getRestrictionParameterOvervoltageValue() << std::endl;
    std::cout << "getRestrictionParameterReductionRatio: " << actuator.getRestrictionParameterReductionRatio() << std::endl;
    std::cout << "getRestrictionParameterMotorNumber: " << actuator.getRestrictionParameterMotorNumber() << std::endl;
    std::cout << "getRestrictionParameterFactoryTime: " << actuator.getRestrictionParameterFactoryTime() << std::endl;

    std::cout << "\n\n##### GENERAL VALUES #####\n" << std::endl;
    std::cout << "getMotorTemperature: " << actuator.getMotorTemperature() << std::endl;
    std::cout << "getProgramVersion: " << actuator.getProgramVersion() << std::endl;
    std::cout << "getMotorName: " << actuator.getMotorName() << std::endl;

response

PID Parameters

getPidParameterPositionRingP: 100 getPidParameterPositionRingI: 0 getPidParameterPositionRingD: 150 getPidParameterPositionLoopSlope: 0 getPidParameterPositionLoopFilterPeriod: 0.01 getPidParameterSpeedRingP: 2 getPidParameterSpeedLoopI: 20 getPidParameterSpeedRingD: 0 getPidParameterSpeedLoopSlope: 0 getPidParameterSpeedLoopFilterPeriod: 0.01 getPidParameterQAxisCurrentLoopP: 2 getPidParameterQAxisCurrentLoopI: 0 getPidParameterQAxisCurrentLoopD: 0 getPidParameterQAxisCurrentLoopSlope: 2 getPidParameterQAxisCurrentLoopFilterPeriod: 0.001 getPidParameterDAxisCurrentLoopP: 2 getPidParameterDAxisCurrentLoopI: 0 getPidParameterDAxisCurrentLoopD: 0 getPidParameterDAxisCurrentLoopSlope: 2 getPidParameterDAxisCurrentLoopFilterPeriod: 0.001

RESTRICTION Parameters

getRestrictionParameterMotorTemperatureLimit: 85 getRestrictionParameterMotorVoltageLimit: 24 getRestrictionParameterMotorCurrentLimit: 15 getRestrictionParameterMotorSpeedLimit: 20 getRestrictionParameterMotorPositionLimitMin: 0 getRestrictionParameterMotorPositionLimitMax: 0 getRestrictionParameterBrakeStart: 80 getRestrictionParameterBrakeMaintenance: 40 getRestrictionParameterOvervoltageValue: 30 getRestrictionParameterReductionRatio: 101 getRestrictionParameterMotorNumber: 1 getRestrictionParameterFactoryTime: 20240617

GENERAL VALUES

getCurrentPosition: -2.89307 getCurrentSpeed: 1.4013e-45 getQaxisCurrent: 0 getQaxisVoltage: 0 getDaxisCurrent: 0 getDaxisVoltage: 0 getMotorTemperature: 25.1 getProgramVersion: 20240429 getMotorName: 5929044113186889760