Public Types | Public Member Functions | List of all members
clearpath::SetDifferentialControl Class Reference

#include <Message_cmd.h>

Inheritance diagram for clearpath::SetDifferentialControl:
Inheritance graph
[legend]

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 Messagefactory (void *input, size_t msg_len)
 
static MessagepopNext ()
 
static MessagewaitNext (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
 

Detailed Description

Definition at line 119 of file Message_cmd.h.

Member Enumeration Documentation

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.

Constructor & Destructor Documentation

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.


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


husky_base
Author(s): Mike Purvis , Paul Bovbel
autogenerated on Fri Oct 2 2020 03:40:07