diffbot::BaseController< TMotorController, TMotorDriver >::LastUpdateTime Struct Reference

Keeps track of the last update times. More...

#include <base_controller.h>

Public Member Functions
	LastUpdateTime (ros::Time start)
	Construct a new Last Update Time object. More...

Public Attributes
ros::Time	command_received
ros::Time	control
ros::Time	debug
ros::Time	imu

Detailed Description

template<typename TMotorController, typename TMotorDriver>
struct diffbot::BaseController< TMotorController, TMotorDriver >::LastUpdateTime

Keeps track of the last update times.

Inside the main.cpp the members of this last_update_time_ are updated everytime the corresponding event happens. This is used together with the update_rate_ to check if enough time elapsed for a new update. For example reading new values from the encoders and writing the received motor commands.

Definition at line 167 of file base_controller.h.

Constructor & Destructor Documentation

LastUpdateTime()

template<typename TMotorController , typename TMotorDriver >

diffbot::BaseController< TMotorController, TMotorDriver >::LastUpdateTime::LastUpdateTime ( ros::Time  start )

inline

Construct a new Last Update Time object.

This object is initialized with the current time using the ros::NodeHandle::now() method.

Parameters

start

Start time of the program

Definition at line 186 of file base_controller.h.

Member Data Documentation

command_received

template<typename TMotorController , typename TMotorDriver >

ros::Time diffbot::BaseController< TMotorController, TMotorDriver >::LastUpdateTime::command_received

Definition at line 170 of file base_controller.h.

control

template<typename TMotorController , typename TMotorDriver >

ros::Time diffbot::BaseController< TMotorController, TMotorDriver >::LastUpdateTime::control

Definition at line 172 of file base_controller.h.

debug

template<typename TMotorController , typename TMotorDriver >

ros::Time diffbot::BaseController< TMotorController, TMotorDriver >::LastUpdateTime::debug

Definition at line 176 of file base_controller.h.

imu

template<typename TMotorController , typename TMotorDriver >

ros::Time diffbot::BaseController< TMotorController, TMotorDriver >::LastUpdateTime::imu

Definition at line 174 of file base_controller.h.

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The documentation for this struct was generated from the following file:

• base_controller.h