Class Whill

Defined in File whill.hpp

Class Documentation

class Whill

Public Functions

Whill(const std::string &port)

~Whill()

int SendStartSendingDataCommand(uint16_t interval_ms, DatasetNumber dataset_number, SpeedMode speed_mode)

int SendStopSendingDataCommand()

int SendSetPower(bool turn_on)

int SetPowerOn()

int SetPowerOff()

int SendSetJoystickCommand(uint8_t fb, uint8_t lr)

int SendSetJoystickCommandWithLocal()

int SendSetSpeedProfileCommand(uint8_t s1, uint8_t fm1, uint8_t fa1, uint8_t fd1, uint8_t rm1, uint8_t ra1, uint8_t rd1, uint8_t tm1, uint8_t ta1, uint8_t td1)

int SendSetBatteryVoltageOutCommand(uint8_t battery_out)

int SendSetVelocityCommand(int linear, int angular)

int ReceiveDataset0(std::shared_ptr<whill_msgs::msg::SpeedProfile> &msg)

int ReceiveDataset1(std::shared_ptr<whill_msgs::msg::ModelCr2State> &msg)