63 long CmdMessage::total_destroyed = 0;
64 long CmdMessage::total_sent = 0;
66 CmdMessage::~CmdMessage()
72 CPR_WARN() <<
"Command message destroyed without being sent. Type: " 73 <<
"0x" << hex << getType() << dec
74 <<
". Total unsent: " << (total_destroyed-total_sent) << endl;
184 double right_feedfwd,
186 double right_int_lim)
232 double left_accel,
double right_accel)
298 size_t cpy_len = strlen(name);
300 if (cpy_len > max_len) { cpy_len = max_len; }
void utob(void *dest, size_t dest_len, uint64_t src)
SetDifferentialSpeed(double left_spd, double right_speed, double left_accel, double right_accel)
SetMaxAccel(double max_fwd, double max_rev)
SetDifferentialOutput(double left, double right)
void setType(uint16_t type)
void ftob(void *dest, size_t dest_len, double src, double scale)
SetVelocity(double trans, double rot, double accel)
SetMaxSpeed(double max_fwd, double max_rev)
SetTurn(double trans, double rad, double accel)
SetSafetySystem(uint16_t flags)
uint8_t * getPayloadPointer(size_t offset=0)
static const size_t CRC_LENGTH
SetAckermannOutput(double steering, double throt, double brake)
static const size_t MAX_MSG_LENGTH
void setPayloadLength(uint8_t len)
SetDifferentialControl(double p, double i, double d, double feedfwd, double stic, double int_lim)
static const size_t HEADER_LENGTH
CmdRestoreSettings(enum restoreFlags flags)