#include <Message_cmd.h>
Public Types | |
enum | payloadOffsets { LEFT_P = 0, LEFT_I = 2, LEFT_D = 4, LEFT_FEEDFWD = 6, LEFT_STIC = 8, LEFT_INT_LIM = 10, RIGHT_P = 12, RIGHT_I = 14, RIGHT_D = 16, RIGHT_FEEDFWD = 18, RIGHT_STIC = 20, RIGHT_INT_LIM = 22, PAYLOAD_LEN = 24 } |
Public Member Functions | |
SetDifferentialControl (double p, double i, double d, double feedfwd, double stic, double int_lim) | |
SetDifferentialControl (double left_p, double left_i, double left_d, double left_feedfwd, double left_stic, double left_int_lim, double right_p, double right_i, double right_d, double right_feedfwd, double right_stic, double right_int_lim) | |
SetDifferentialControl (const SetDifferentialControl &other) | |
Public Member Functions inherited from clearpath::CmdMessage | |
CmdMessage () | |
CmdMessage (const CmdMessage &other) | |
virtual | ~CmdMessage () |
Public Member Functions inherited from clearpath::Message | |
uint16_t | getChecksum () |
uint8_t | getFlags () |
uint8_t | getLength () |
uint8_t | getLengthComp () |
size_t | getPayload (void *buf, size_t max_size) |
size_t | getPayloadLength () |
uint32_t | getTimestamp () |
size_t | getTotalLength () |
uint16_t | getType () |
uint8_t | getVersion () |
bool | isCommand () |
bool | isData () |
bool | isRequest () |
bool | isValid (char *whyNot=NULL, size_t strLen=0) |
Message () | |
Message (void *input, size_t msg_len) | |
Message (const Message &other) | |
Message (uint16_t type, uint8_t *payload, size_t payload_len, uint32_t timestamp=0, uint8_t flags=0, uint8_t version=0) | |
virtual std::ostream & | printMessage (std::ostream &stream=std::cout) |
void | printRaw (std::ostream &stream=std::cout) |
void | send () |
size_t | toBytes (void *buf, size_t buf_size) |
virtual | ~Message () |
Additional Inherited Members | |
Static Public Member Functions inherited from clearpath::Message | |
static Message * | factory (void *input, size_t msg_len) |
static Message * | popNext () |
static Message * | waitNext (double timeout=0.0) |
Static Public Attributes inherited from clearpath::Message | |
static const size_t | MAX_MSG_LENGTH = 256 |
static const size_t | MIN_MSG_LENGTH = HEADER_LENGTH + CRC_LENGTH |
static const uint8_t | SOH = 0xAA |
static const uint8_t | STX = 0x55 |
Protected Types inherited from clearpath::Message | |
enum | dataOffsets { SOH_OFST = 0, LENGTH_OFST, LENGTH_COMP_OFST, VERSION_OFST, TIMESTAMP_OFST, FLAGS_OFST = 8, TYPE_OFST, STX_OFST = 11, PAYLOAD_OFST } |
Protected Member Functions inherited from clearpath::Message | |
size_t | crcOffset () |
uint8_t * | getPayloadPointer (size_t offset=0) |
void | makeValid () |
void | setFlags (uint8_t flags) |
void | setLength (uint8_t len) |
void | setPayload (void *buf, size_t buf_size) |
void | setPayloadLength (uint8_t len) |
void | setTimestamp (uint32_t timestamp) |
void | setType (uint16_t type) |
void | setVersion (uint8_t version) |
Protected Attributes inherited from clearpath::Message | |
uint8_t | data [MAX_MSG_LENGTH] |
bool | is_sent |
size_t | total_len |
Static Protected Attributes inherited from clearpath::Message | |
static const uint16_t | CRC_INIT_VAL = 0xFFFF |
static const size_t | CRC_LENGTH = 2 |
static const size_t | HEADER_LENGTH = 12 |
Definition at line 119 of file Message_cmd.h.
Enumerator | |
---|---|
LEFT_P | |
LEFT_I | |
LEFT_D | |
LEFT_FEEDFWD | |
LEFT_STIC | |
LEFT_INT_LIM | |
RIGHT_P | |
RIGHT_I | |
RIGHT_D | |
RIGHT_FEEDFWD | |
RIGHT_STIC | |
RIGHT_INT_LIM | |
PAYLOAD_LEN |
Definition at line 122 of file Message_cmd.h.
clearpath::SetDifferentialControl::SetDifferentialControl | ( | double | p, |
double | i, | ||
double | d, | ||
double | feedfwd, | ||
double | stic, | ||
double | int_lim | ||
) |
Definition at line 145 of file Message_cmd.cpp.
clearpath::SetDifferentialControl::SetDifferentialControl | ( | double | left_p, |
double | left_i, | ||
double | left_d, | ||
double | left_feedfwd, | ||
double | left_stic, | ||
double | left_int_lim, | ||
double | right_p, | ||
double | right_i, | ||
double | right_d, | ||
double | right_feedfwd, | ||
double | right_stic, | ||
double | right_int_lim | ||
) |
Definition at line 174 of file Message_cmd.cpp.
clearpath::SetDifferentialControl::SetDifferentialControl | ( | const SetDifferentialControl & | other | ) |
Definition at line 209 of file Message_cmd.cpp.