29 #ifndef SVHCONTROLLERSTATE_H 30 #define SVHCONTROLLERSTATE_H 57 pwm_fault(_pwm_fault),
59 pwm_reset(_pwm_reset),
60 pwm_active(_pwm_active),
106 o << std::setw(4) << std::setfill(
'0') << std::hex
107 <<
"pwm_fault " <<
"0x" <<
static_cast<int>(cs.
pwm_fault) <<
" " 108 <<
"pwm_otw " <<
"0x" << static_cast<int>(cs.
pwm_otw) <<
" " 109 <<
"pwm_reset " <<
"0x" <<
static_cast<int>(cs.
pwm_reset) <<
" " 110 <<
"pwm_active " <<
"0x" << static_cast<int>(cs.
pwm_active) <<
" " 111 <<
"pos_ctr " <<
"0x" <<
static_cast<int>(cs.
pos_ctrl) <<
" " 112 <<
"cur_ctrl " <<
"0x" << static_cast<int>(cs.
cur_ctrl) <<
" " 115 std::cout << std::dec ;
122 #endif // SVHCONTROLLERSTATE_H uint16_t pos_ctrl
Enable/Disable of position controller (0x0001 to Activate )
bool operator==(const SVHControllerState &other) const
Compares two SVHControllerState objects.
icl_comm::ArrayBuilder & operator>>(icl_comm::ArrayBuilder &ab, SVHControlCommand &data)
overload stream operator to easily deserialize control commands for one channel
SVHControllerState(uint16_t _pwm_fault=0, uint16_t _pwm_otw=0, uint16_t _pwm_reset=0, uint16_t _pwm_active=0, uint16_t _pos_ctrl=0, uint16_t _cur_ctrl=0)
Default constructor with zero values for everything.
icl_comm::ArrayBuilder & operator<<(icl_comm::ArrayBuilder &ab, const SVHControlCommand &data)
uint16_t cur_ctrl
Enable/Disbale of current controller (0x0001 to Activate)
The SVHControllerState indicates the current state of the MeCoVis controller IC which is used in the ...
uint16_t pwm_reset
Bitmask for low-active resets of the channels (0-8). Channel 9 (0x0200) is a special channel that act...