Feedback objects have various fields representing feedback from modules; which fields are populated depends on the module type and various other settings. More...

#include <feedback.hpp>

Classes
class	Actuator
	Actuator-specific feedback. More...

class	EnumField
	A message field representable by an enum of a given type. 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	Imu
	Inertial measurement unit feedback (accelerometers and gyros). More...

class	Io
	Feedback from any available I/O 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	QuaternionfField
	A message field representable by a 3-D vector of single-precision floating point values. More...

class	UInt64Field
	A message field representable by an unsigned 64 bit integer value. More...

class	Vector3fField
	A message field representable by a 3-D vector of single-precision floating point values. More...

Public Types
enum	CommandLifetimeState { CommandLifetimeState::Unlocked, CommandLifetimeState::LockedByOther, CommandLifetimeState::LockedBySender }

enum	EffortLimitState { EffortLimitState::Below, EffortLimitState::AtLower, EffortLimitState::Inside, EffortLimitState::AtUpper, EffortLimitState::Above, EffortLimitState::Uninitialized }

enum	MstopState { MstopState::Triggered, MstopState::NotTriggered }

enum	PositionLimitState { PositionLimitState::Below, PositionLimitState::AtLower, PositionLimitState::Inside, PositionLimitState::AtUpper, PositionLimitState::Above, PositionLimitState::Uninitialized }

enum	TemperatureState { TemperatureState::Normal, TemperatureState::Critical, TemperatureState::ExceedMaxMotor, TemperatureState::ExceedMaxBoard }

enum	VelocityLimitState { VelocityLimitState::Below, VelocityLimitState::AtLower, VelocityLimitState::Inside, VelocityLimitState::AtUpper, VelocityLimitState::Above, VelocityLimitState::Uninitialized }

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

const FloatField &	boardTemperature () const
	Ambient temperature inside the module (measured at the IMU chip), in degrees Celsius. More...

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

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

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

const Imu &	imu () const
	Inertial measurement unit feedback (accelerometers and gyros). More...

const Io &	io () const
	Feedback from any available I/O pins on the device. More...

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

const FloatField &	processorTemperature () const
	Temperature of the processor chip, in degrees Celsius. More...

const FloatField &	voltage () const
	Bus voltage that the module is running at (in Volts). More...

	~Feedback () noexcept
	Cleans up feedback object as necessary. More...

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

Private Attributes
Actuator	actuator_

FloatField	board_temperature_

NumberedFloatField	debug_

Imu	imu_

HebiFeedbackPtr	internal_

Io	io_

LedField	led_

FloatField	processor_temperature_

FloatField	voltage_

Detailed Description

Feedback objects have various fields representing feedback from modules; which fields are populated depends on the module type and various other settings.

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 feedback object, and so should not be used after the parent object has been destroyed.

The fields in the feedback object are typed; generally, these are optional-style read-only fields (i.e., have the concept of has/get), 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 feedback.hpp.

Member Enumeration Documentation

enum hebi::Feedback::CommandLifetimeState

strong

Enumerator
Unlocked	There is not command lifetime active on this module.
LockedByOther	Commands are locked out due to control from other users.
LockedBySender	Commands from others are locked out due to control from this group.

Definition at line 101 of file feedback.hpp.

enum hebi::Feedback::EffortLimitState

strong

Enumerator
Below	The effort of the module was below the lower safety limit; the motor output is set to return the module to within the limits.
AtLower	The effort of the module was near the lower safety limit, and the motor output is being limited or reversed.
Inside	The effort of the module was within the safety limits.
AtUpper	The effort of the module was near the upper safety limit, and the motor output is being limited or reversed.
Above	The effort of the module was above the upper safety limit; the motor output is set to return the module to within the limits.
Uninitialized	The module has not been inside the safety limits since it was booted or the safety limits were set.

Definition at line 85 of file feedback.hpp.

enum hebi::Feedback::MstopState

strong

Enumerator
Triggered	The MStop is pressed.
NotTriggered	The MStop is not pressed.

Definition at line 45 of file feedback.hpp.

enum hebi::Feedback::PositionLimitState

strong

Enumerator
Below	The position of the module was below the lower safety limit; the motor output is set to return the module to within the limits.
AtLower	The position of the module was near the lower safety limit, and the motor output is being limited or reversed.
Inside	The position of the module was within the safety limits.
AtUpper	The position of the module was near the upper safety limit, and the motor output is being limited or reversed.
Above	The position of the module was above the upper safety limit; the motor output is set to return the module to within the limits.
Uninitialized	The module has not been inside the safety limits since it was booted or the safety limits were set.

Definition at line 53 of file feedback.hpp.

enum hebi::Feedback::TemperatureState

strong

Enumerator
Normal	Temperature within normal range.
Critical	Motor output beginning to be limited due to high temperature.
ExceedMaxMotor	Temperature exceeds max allowable for motor; motor output disabled.
ExceedMaxBoard	Temperature exceeds max allowable for electronics; motor output disabled.

Definition at line 33 of file feedback.hpp.

enum hebi::Feedback::VelocityLimitState

strong

Enumerator
Below	The velocity of the module was below the lower safety limit; the motor output is set to return the module to within the limits.
AtLower	The velocity of the module was near the lower safety limit, and the motor output is being limited or reversed.
Inside	The velocity of the module was within the safety limits.
AtUpper	The velocity of the module was near the upper safety limit, and the motor output is being limited or reversed.
Above	The velocity of the module was above the upper safety limit; the motor output is set to return the module to within the limits.
Uninitialized	The module has not been inside the safety limits since it was booted or the safety limits were set.

Definition at line 69 of file feedback.hpp.

Constructor & Destructor Documentation

hebi::Feedback::Feedback ( HebiFeedbackPtr feedback )

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 221 of file feedback.cpp.

hebi::Feedback::Feedback ( Feedback && other )

Move constructor (necessary for containment in STL template classes)

Definition at line 237 of file feedback.cpp.

hebi::Feedback::~Feedback ( )

noexcept

Cleans up feedback object as necessary.

Definition at line 233 of file feedback.cpp.

Member Function Documentation

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

inline

Actuator-specific feedback.

Definition at line 674 of file feedback.hpp.

const Feedback::FloatField & hebi::Feedback::boardTemperature ( ) const

Ambient temperature inside the module (measured at the IMU chip), in degrees Celsius.

Definition at line 252 of file feedback.cpp.

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

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

Definition at line 264 of file feedback.cpp.

const Imu& hebi::Feedback::imu ( ) const

inline

Inertial measurement unit feedback (accelerometers and gyros).

Definition at line 676 of file feedback.hpp.

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

inline

Feedback from any available I/O pins on the device.

Definition at line 672 of file feedback.hpp.

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

The module's LED.

Definition at line 268 of file feedback.cpp.

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

privatedelete

Disable copy constructor/assignment operators

const Feedback::FloatField & hebi::Feedback::processorTemperature ( ) const

Temperature of the processor chip, in degrees Celsius.

Definition at line 256 of file feedback.cpp.

const Feedback::FloatField & hebi::Feedback::voltage ( ) const

Bus voltage that the module is running at (in Volts).

Definition at line 260 of file feedback.cpp.

Member Data Documentation

Actuator hebi::Feedback::actuator_

private

Definition at line 695 of file feedback.hpp.

FloatField hebi::Feedback::board_temperature_

private

Definition at line 698 of file feedback.hpp.

NumberedFloatField hebi::Feedback::debug_

private

Definition at line 701 of file feedback.hpp.

Imu hebi::Feedback::imu_

private

Definition at line 696 of file feedback.hpp.

HebiFeedbackPtr hebi::Feedback::internal_

private

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

Definition at line 647 of file feedback.hpp.

Io hebi::Feedback::io_

private

Definition at line 694 of file feedback.hpp.

LedField hebi::Feedback::led_

private

Definition at line 702 of file feedback.hpp.

FloatField hebi::Feedback::processor_temperature_

private

Definition at line 699 of file feedback.hpp.

FloatField hebi::Feedback::voltage_

private

Definition at line 700 of file feedback.hpp.

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

Classes

Public Types

Public Member Functions

Private Member Functions

Private Attributes

Detailed Description

Member Enumeration Documentation

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation