clearpath::horizon::payloads::DifferentialControl Class Reference

Horizon Message Payload - Differential Control. More...

Inheritance diagram for clearpath::horizon::payloads::DifferentialControl:

[legend]

List of all members.

Public Member Functions
def	__init__
	Create A Horizon Message Payload - Differential Control.
def	print_format
	Human Readable Payload String.
Public Attributes
	left_d
	left_f
	left_ffwd
	left_i
	left_l
	left_p
	left_s
	left_sat
	left_stic
	right_d
	right_ffwd
	right_i
	right_p
	right_sat
	right_stic

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Detailed Description

Horizon Message Payload - Differential Control.

Represents the payload of the command and data messages 'differential control'

Warning:

Data should not be modified once created

Horizon Message Payload - Differential Control

Definition at line 1389 of file payloads.py.

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Member Function Documentation

def clearpath::horizon::payloads::DifferentialControl::__init__	(		self,
			left_p = 0.0,
			left_i = 0.0,
			left_d = 0.0,
			left_ffwd = 0.0,
			left_stic = 0.0,
			left_sat = 0.0,
			right_p = 0.0,
			right_i = 0.0,
			right_d = 0.0,
			right_ffwd = 0.0,
			right_stic = 0.0,
			right_sat = 0.0,
			raw = None,
			timestamp = 0
	)

Create A Horizon Message Payload - Differential Control.

Constructor for the Horizon Message Payload - Differential Control.
The constructor can be called two different ways:

• DifferentialControl(l_p, l_d, r_i, raw=None,...)
  Create a command message payload to send.
  
• DifferentialControl(raw, version, timestamp)
  Parse raw data (most likely received) into payload variables.
  

Parameters:

	left_d	Left derivative constant
	left_ffwd	Left ffwd-forward constant
	left_i	Left integral constant
	left_sat	Left integral sat
	left_p	Left proportional constant
	left_stic	Left stic compenstation
	right_d	Right derivative constant
	right_ffwd	Right ffwd-forward constant
	right_i	Right integral constant
	right_sat	Right integral sat
	right_p	Right proportional constant
	right_stic	Right stic compenstation
	raw	Raw Payload data byte list to parse
	timestamp	Payload Send / Create Time (milliseconds)
	version	Horizon Protocol Version, (-1,*) represents the newest version, (0,0) auto-detect the version (if supported)

Exceptions:

	LookupError	If auto-detect version fails
	ValueError	If values are out of range or if raw is invalid

Create A Horizon Message Payload - Differential Control

Definition at line 1422 of file payloads.py.

def clearpath::horizon::payloads::DifferentialControl::print_format

(

self

)

Human Readable Payload String.

Return the payload as a human readable string

Reimplemented from clearpath::horizon::payloads::Payload.

Definition at line 1533 of file payloads.py.

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Member Data Documentation

clearpath::horizon::payloads::DifferentialControl::left_d

Definition at line 1428 of file payloads.py.

clearpath::horizon::payloads::DifferentialControl::left_f

Definition at line 1459 of file payloads.py.

clearpath::horizon::payloads::DifferentialControl::left_ffwd

Definition at line 1429 of file payloads.py.

clearpath::horizon::payloads::DifferentialControl::left_i

Definition at line 1427 of file payloads.py.

clearpath::horizon::payloads::DifferentialControl::left_l

Definition at line 1469 of file payloads.py.

clearpath::horizon::payloads::DifferentialControl::left_p

Definition at line 1426 of file payloads.py.

clearpath::horizon::payloads::DifferentialControl::left_s

Definition at line 1464 of file payloads.py.

clearpath::horizon::payloads::DifferentialControl::left_sat

Definition at line 1431 of file payloads.py.

clearpath::horizon::payloads::DifferentialControl::left_stic

Definition at line 1430 of file payloads.py.

clearpath::horizon::payloads::DifferentialControl::right_d

Definition at line 1434 of file payloads.py.

clearpath::horizon::payloads::DifferentialControl::right_ffwd

Definition at line 1435 of file payloads.py.

clearpath::horizon::payloads::DifferentialControl::right_i

Definition at line 1433 of file payloads.py.

clearpath::horizon::payloads::DifferentialControl::right_p

Definition at line 1432 of file payloads.py.

clearpath::horizon::payloads::DifferentialControl::right_sat

Definition at line 1437 of file payloads.py.

clearpath::horizon::payloads::DifferentialControl::right_stic

Definition at line 1436 of file payloads.py.

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The documentation for this class was generated from the following file:

• payloads.py