#include <command.hpp>
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typedef ecl::PushAndPop< unsigned char > | Buffer |
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typedef ecl::Stencil< Buffer > | BufferStencil |
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enum | Name {
BaseControl = 1,
Sound = 3,
SoundSequence = 4,
RequestExtra = 9,
ChangeFrame = 10,
RequestEeprom = 11,
SetDigitalOut = 12,
SetController = 13,
GetController = 14
} |
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enum | VersionFlag { HardwareVersion = 0x01,
FirmwareVersion = 0x02,
UniqueDeviceID = 0x08
} |
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static const unsigned char | header0 = 0xaa |
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static const unsigned char | header1 = 0x55 |
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Definition at line 34 of file command.hpp.
These values are used to detect the type of sub-payload that is ensuing.
Enumerator |
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BaseControl |
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Sound |
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SoundSequence |
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RequestExtra |
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ChangeFrame |
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RequestEeprom |
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SetDigitalOut |
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SetController |
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GetController |
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Definition at line 43 of file command.hpp.
Enumerator |
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HardwareVersion |
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FirmwareVersion |
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UniqueDeviceID |
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Definition at line 49 of file command.hpp.
virtual kobuki::Command::~Command |
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inlinevirtual |
bool kobuki::Command::deserialise |
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ecl::PushAndPop< unsigned char > & |
byteStream | ) |
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inlinevirtual |
Command kobuki::Command::GetControllerGain |
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static |
Command kobuki::Command::GetVersionInfo |
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static |
void kobuki::Command::resetBuffer |
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Buffer & |
buffer | ) |
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Clears the command buffer and resets the header.
Definition at line 202 of file command.cpp.
bool kobuki::Command::serialise |
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ecl::PushAndPop< unsigned char > & |
byteStream | ) |
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virtual |
Command kobuki::Command::SetControllerGain |
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const unsigned char & |
type, |
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const unsigned int & |
p_gain, |
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const unsigned int & |
i_gain, |
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const unsigned int & |
d_gain |
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) |
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static |
Set one of the digital out pins available to the user.
They set the last 4 bits on the data.gp_out variable.
- Todo:
- could use far better documentation here/example here.
- Parameters
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digital_output | : mask and value to send |
current_data | : need to store settings as the gp_output command is a combo command |
- Returns
- Command : the command to send down the wire.
Definition at line 84 of file command.cpp.
Set one of the external power sources available to the user.
They set the second 4 bits(0x00f0) on the data.gp_out variable.
- Todo:
- could use far better documentation here/example here.
- Parameters
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digital_output | : mask and value to send |
current_data | : need to store settings as the gp_output command is a combo command |
- Returns
- Command : the command to send down the wire.
Definition at line 115 of file command.cpp.
Update the gp_out bits and get ready for sending as a SetDigitalOut command.
The led arrays are obtained from the gp_outputs with a 0x0f00 mask.
- Led1 Red : 0x0100
- Led1 Green : 0x0200
- Led1 Orange : 0x0300
- Led2 Red : 0x0400
- Led2 Green : 0x0800
- Led2 Orange : 0x0c00
Important to overlay this on top of the existing gp_out configuration.
- Parameters
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number | : led enumerated number |
colour | : green, orange, red or black |
current_data | : need to store settings as the gp_output command is a combo command |
- Returns
- Command : the command to send down the wire.
Definition at line 53 of file command.cpp.
Command kobuki::Command::SetVelocityControl |
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const int16_t & |
speed, |
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const int16_t & |
radius |
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) |
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static |
Data kobuki::Command::data |
const unsigned char kobuki::Command::header0 = 0xaa |
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staticprivate |
const unsigned char kobuki::Command::header1 = 0x55 |
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staticprivate |
The documentation for this class was generated from the following files: