Command objects have various fields that can be set; when sent to the module, these fields control internal properties and setpoints. More...

#include <command.hpp>

Classes
class	Actuator
	Actuator-specific commands. More...

class	BoolField
	A message field representable by a bool value. More...

class	EnumField
	A message field representable by an enum of a given type. More...

class	FlagField
	A two-state message field (either set/true or cleared/false). More...

class	FloatField
	A message field representable by a single-precision floating point value. More...

class	HighResAngleField
	A message field for an angle measurement which does not lose precision at very high angles. More...

class	Io
	Any available digital or analog output pins on the device. More...

class	IoBank
	A message field for interfacing with a bank of I/O pins. More...

class	LedField
	A message field for interfacing with an LED. More...

class	NumberedFloatField
	A message field containing a numbered set of single-precision floating point values. More...

class	Settings
	Module settings that are typically changed at a slower rate. More...

class	StringField
	A message field representable by a std::string. More...

Public Types
enum	ControlStrategy { ControlStrategy::Off, ControlStrategy::DirectPWM, ControlStrategy::Strategy2, ControlStrategy::Strategy3, ControlStrategy::Strategy4 }

Public Member Functions
Actuator &	actuator ()
	Actuator-specific commands. More...

const Actuator &	actuator () const
	Actuator-specific commands. More...

FlagField &	boot ()
	Boot the module from bootloader into application. More...

const FlagField &	boot () const
	Boot the module from bootloader into application. More...

	Command (HebiCommandPtr)
	Wraps an existing C-style object that is managed by its parent. NOTE: this should not be used except by internal library functions! More...

	Command (Command &&other)
	Move constructor (necessary for containment in STL template classes) More...

NumberedFloatField &	debug ()
	Values for internal debug functions (channel 1-9 available). More...

const NumberedFloatField &	debug () const
	Values for internal debug functions (channel 1-9 available). More...

Io &	io ()
	Any available digital or analog output pins on the device. More...

const Io &	io () const
	Any available digital or analog output pins on the device. More...

LedField &	led ()
	The module's LED. More...

const LedField &	led () const
	The module's LED. More...

FlagField &	reset ()
	Restart the module. More...

const FlagField &	reset () const
	Restart the module. More...

Settings &	settings ()
	Module settings that are typically changed at a slower rate. More...

const Settings &	settings () const
	Module settings that are typically changed at a slower rate. More...

FlagField &	stopBoot ()
	Stop the module from automatically booting into application. More...

const FlagField &	stopBoot () const
	Stop the module from automatically booting into application. More...

	~Command () noexcept
	Cleans up command object as necessary. More...

Protected Types
using	CommandGains = Gains< HebiCommandPtr, FloatField, BoolField, HebiCommandFloatField, HebiCommandBoolField >

Private Member Functions
Command &	operator= (const Command &&other)=delete

Private Attributes
Actuator	actuator_

FlagField	boot_

NumberedFloatField	debug_

HebiCommandPtr	internal_

Io	io_

LedField	led_

FlagField	reset_

Settings	settings_

FlagField	stop_boot_

Detailed Description

Command objects have various fields that can be set; when sent to the module, these fields control internal properties and setpoints.

This object has a hierarchical structure – there are some direct general-purpose fields at the top level, and many more specific fields contained in different nested subobjects.

The subobjects contain references to the parent command object, and so should not be used after the parent object has been destroyed.

The fields in the command object are typed; generally, these are optional-style read/write fields (i.e., have the concept of get/set/has/clear), although the return types and exact interface vary slightly between fields. Where appropriate, the explicit bool operator has been overridden so that you can shortcut if(field.has()) by calling if(field).

Although this header file can be used to look at the hierarchy of the messages, in general the online documentation at apidocs.hebi.us presents this information. in a more readable form.

Definition at line 30 of file command.hpp.

Member Typedef Documentation

using hebi::Command::CommandGains = Gains<HebiCommandPtr, FloatField, BoolField, HebiCommandFloatField, HebiCommandBoolField>

protected

Definition at line 482 of file command.hpp.

Member Enumeration Documentation

enum hebi::Command::ControlStrategy

strong

Enumerator
Off	The motor is not given power (equivalent to a 0 PWM value)
DirectPWM	A direct PWM value (-1 to 1) can be sent to the motor (subject to onboard safety limiting).
Strategy2	A combination of the position, velocity, and effort loops with P and V feeding to T; documented on docs.hebi.us under "Control Modes".
Strategy3	A combination of the position, velocity, and effort loops with P, V, and T feeding to PWM; documented on docs.hebi.us under "Control Modes".
Strategy4	A combination of the position, velocity, and effort loops with P feeding to T and V feeding to PWM; documented on docs.hebi.us under "Control Modes".

Definition at line 33 of file command.hpp.

Constructor & Destructor Documentation

hebi::Command::Command ( HebiCommandPtr command )

Wraps an existing C-style object that is managed by its parent. NOTE: this should not be used except by internal library functions!

Definition at line 318 of file command.cpp.

hebi::Command::Command ( Command && other )

Move constructor (necessary for containment in STL template classes)

Definition at line 334 of file command.cpp.

hebi::Command::~Command ( )

noexcept

Cleans up command object as necessary.

Definition at line 330 of file command.cpp.

Member Function Documentation

Actuator& hebi::Command::actuator ( )

inline

Actuator-specific commands.

Definition at line 700 of file command.hpp.

const Actuator& hebi::Command::actuator ( ) const

inline

Actuator-specific commands.

Definition at line 702 of file command.hpp.

Command::FlagField & hebi::Command::boot ( )

Boot the module from bootloader into application.

Definition at line 357 of file command.cpp.

const FlagField& hebi::Command::boot ( ) const

Boot the module from bootloader into application.

Command::NumberedFloatField & hebi::Command::debug ( )

Values for internal debug functions (channel 1-9 available).

Definition at line 349 of file command.cpp.

const NumberedFloatField& hebi::Command::debug ( ) const

Values for internal debug functions (channel 1-9 available).

Io& hebi::Command::io ( )

inline

Any available digital or analog output pins on the device.

Definition at line 692 of file command.hpp.

const Io& hebi::Command::io ( ) const

inline

Any available digital or analog output pins on the device.

Definition at line 694 of file command.hpp.

Command::LedField & hebi::Command::led ( )

The module's LED.

Definition at line 365 of file command.cpp.

const LedField& hebi::Command::led ( ) const

The module's LED.

Command& hebi::Command::operator= ( const Command && other )

privatedelete

Disable copy constructor/assignment operators

Command::FlagField & hebi::Command::reset ( )

Restart the module.

Definition at line 353 of file command.cpp.

const FlagField& hebi::Command::reset ( ) const

Restart the module.

Settings& hebi::Command::settings ( )

inline

Module settings that are typically changed at a slower rate.

Definition at line 696 of file command.hpp.

const Settings& hebi::Command::settings ( ) const

inline

Module settings that are typically changed at a slower rate.

Definition at line 698 of file command.hpp.

Command::FlagField & hebi::Command::stopBoot ( )

Stop the module from automatically booting into application.

Definition at line 361 of file command.cpp.

const FlagField& hebi::Command::stopBoot ( ) const

Stop the module from automatically booting into application.

Member Data Documentation

Actuator hebi::Command::actuator_

private

Definition at line 732 of file command.hpp.

FlagField hebi::Command::boot_

private

Definition at line 736 of file command.hpp.

NumberedFloatField hebi::Command::debug_

private

Definition at line 734 of file command.hpp.

HebiCommandPtr hebi::Command::internal_

private

C-style object; managed by parent. NOTE: this should not be used except by internal library functions!

Definition at line 667 of file command.hpp.

Io hebi::Command::io_

private

Definition at line 730 of file command.hpp.

LedField hebi::Command::led_

private

Definition at line 738 of file command.hpp.

FlagField hebi::Command::reset_

private

Definition at line 735 of file command.hpp.

Settings hebi::Command::settings_

private

Definition at line 731 of file command.hpp.

FlagField hebi::Command::stop_boot_

private

Definition at line 737 of file command.hpp.

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

Classes

Public Types

Public Member Functions

Protected Types

Private Member Functions

Private Attributes

Detailed Description

Member Typedef Documentation

Member Enumeration Documentation

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation