Command objects have various fields that can be set; when sent to the module, these fields control internal properties and setpoints. More...

#include <command.hpp>

Classes
class	Actuator
	Actuator-specific commands. More...

class	BoolField
	A message field representable by a bool value. More...

class	EnumField
	A message field representable by an enum of a given type. More...

class	FlagField
	A two-state message field (either set/true or cleared/false). More...

class	FloatField
	A message field representable by a single-precision floating point value. More...

class	HighResAngleField
	A message field for an angle measurement which does not lose precision at very high angles. More...

class	Io
	Any available digital or analog output pins on the device. More...

class	IoBank
	A message field for interfacing with a bank of I/O pins. More...

class	LedField
	A message field for interfacing with an LED. More...

class	NumberedFloatField
	A message field containing a numbered set of single-precision floating point values. More...

class	Settings
	Module settings that are typically changed at a slower rate. More...

class	StringField
	A message field representable by a std::string. More...

Public Types
enum	ControlStrategy { ControlStrategy::Off, ControlStrategy::DirectPWM, ControlStrategy::Strategy2, ControlStrategy::Strategy3, ControlStrategy::Strategy4 }

enum	MstopStrategy { MstopStrategy::Disabled, MstopStrategy::MotorOff, MstopStrategy::HoldPosition }

enum	PositionLimitStrategy { PositionLimitStrategy::HoldPosition, PositionLimitStrategy::DampedSpring, PositionLimitStrategy::MotorOff, PositionLimitStrategy::Disabled }

Public Member Functions
Actuator &	actuator ()
	Actuator-specific commands. More...

const Actuator &	actuator () const
	Actuator-specific commands. More...

StringField &	appendLog ()
	Appends to the current log message on the module. More...

const StringField &	appendLog () const
	Appends to the current log message on the module. More...

FlagField &	boot ()
	Boot the module from bootloader into application. More...

const FlagField &	boot () const
	Boot the module from bootloader into application. More...

FlagField &	clearLog ()
	Clears the log message on the module. More...

const FlagField &	clearLog () const
	Clears the log message on the module. More...

	Command (Command &&other)
	Move constructor (necessary for containment in STL template classes) More...

	Command (HebiCommandPtr)
	Wraps an existing C-style object that is managed by its parent. NOTE: this should not be used except by internal library functions! More...

NumberedFloatField &	debug ()
	Values for internal debug functions (channel 1-9 available). More...

const NumberedFloatField &	debug () const
	Values for internal debug functions (channel 1-9 available). More...

Io &	io ()
	Any available digital or analog output pins on the device. More...

const Io &	io () const
	Any available digital or analog output pins on the device. More...

LedField &	led ()
	The module's LED. More...

const LedField &	led () const
	The module's LED. More...

Command &	operator= (Command &&other)=delete

FlagField &	reset ()
	Restart the module. More...

const FlagField &	reset () const
	Restart the module. More...

Settings &	settings ()
	Module settings that are typically changed at a slower rate. More...

const Settings &	settings () const
	Module settings that are typically changed at a slower rate. More...

FlagField &	stopBoot ()
	Stop the module from automatically booting into application. More...

const FlagField &	stopBoot () const
	Stop the module from automatically booting into application. More...

Protected Types
using	CommandGains = Gains< HebiCommandRef, FloatField, BoolField, HebiCommandFloatField, HebiCommandBoolField >

Private Attributes
Actuator	actuator_

StringField	append_log_

FlagField	boot_

FlagField	clear_log_

NumberedFloatField	debug_

HebiCommandPtr	internal_

HebiCommandRef	internal_ref_

Io	io_

LedField	led_

FlagField	reset_

Settings	settings_

FlagField	stop_boot_

Detailed Description

Command objects have various fields that can be set; when sent to the module, these fields control internal properties and setpoints.

This object has a hierarchical structure – there are some direct general-purpose fields at the top level, and many more specific fields contained in different nested subobjects.

The subobjects contain references to the parent command object, and so should not be used after the parent object has been destroyed.

The fields in the command object are typed; generally, these are optional-style read/write fields (i.e., have the concept of get/set/has/clear), although the return types and exact interface vary slightly between fields. Where appropriate, the explicit bool operator has been overridden so that you can shortcut if(field.has()) by calling if(field).

Although this header file can be used to look at the hierarchy of the messages, in general the online documentation at apidocs.hebi.us presents this information. in a more readable form.

Definition at line 33 of file command.hpp.

Member Typedef Documentation

◆ CommandGains

using hebi::Command::CommandGains = Gains<HebiCommandRef, FloatField, BoolField, HebiCommandFloatField, HebiCommandBoolField>

protected

Definition at line 495 of file command.hpp.

Member Enumeration Documentation

◆ ControlStrategy

enum hebi::Command::ControlStrategy

strong

Enumerator
Off	The motor is not given power (equivalent to a 0 PWM value)
DirectPWM	A direct PWM value (-1 to 1) can be sent to the motor (subject to onboard safety limiting).
Strategy2	A combination of the position, velocity, and effort loops with P and V feeding to T; documented on docs.hebi.us under "Control Modes"
Strategy3	A combination of the position, velocity, and effort loops with P, V, and T feeding to PWM; documented on docs.hebi.us under "Control Modes"
Strategy4	A combination of the position, velocity, and effort loops with P feeding to T and V feeding to PWM; documented on docs.hebi.us under "Control Modes"

Definition at line 35 of file command.hpp.

◆ MstopStrategy

enum hebi::Command::MstopStrategy

strong

Enumerator
Disabled	Triggering the M-Stop has no effect.
MotorOff	Triggering the M-Stop results in the control strategy being set to 'off'. Remains 'off' until changed by user.
HoldPosition	Triggering the M-Stop results in the motor holding the motor position. Operations resume to normal once trigger is released.

Definition at line 51 of file command.hpp.

◆ PositionLimitStrategy

enum hebi::Command::PositionLimitStrategy

strong

Enumerator
HoldPosition	Exceeding the position limit results in the actuator holding the position. Needs to be manually set to 'disabled' to recover.
DampedSpring	Exceeding the position limit results in a virtual spring that pushes the actuator back to within the limits.
MotorOff	Exceeding the position limit results in the control strategy being set to 'off'. Remains 'off' until changed by user.
Disabled	Exceeding the position limit has no effect.

Definition at line 60 of file command.hpp.

Constructor & Destructor Documentation

◆ Command() [1/2]

hebi::Command::Command ( HebiCommandPtr command )

Wraps an existing C-style object that is managed by its parent. NOTE: this should not be used except by internal library functions!

Definition at line 208 of file command.cpp.

◆ Command() [2/2]

hebi::Command::Command ( Command && other )

Move constructor (necessary for containment in STL template classes)

Definition at line 223 of file command.cpp.

Member Function Documentation

◆ actuator() [1/2]

Actuator& hebi::Command::actuator ( )

inline

Actuator-specific commands.

Definition at line 774 of file command.hpp.

◆ actuator() [2/2]

const Actuator& hebi::Command::actuator ( ) const

inline

Actuator-specific commands.

Definition at line 776 of file command.hpp.

◆ appendLog() [1/2]

StringField& hebi::Command::appendLog ( )

inline

Appends to the current log message on the module.

Definition at line 787 of file command.hpp.

◆ appendLog() [2/2]

const StringField& hebi::Command::appendLog ( ) const

inline

Appends to the current log message on the module.

Definition at line 789 of file command.hpp.

◆ boot() [1/2]

FlagField& hebi::Command::boot ( )

inline

Boot the module from bootloader into application.

Definition at line 795 of file command.hpp.

◆ boot() [2/2]

const FlagField& hebi::Command::boot ( ) const

inline

Boot the module from bootloader into application.

Definition at line 797 of file command.hpp.

◆ clearLog() [1/2]

FlagField& hebi::Command::clearLog ( )

inline

Clears the log message on the module.

Definition at line 803 of file command.hpp.

◆ clearLog() [2/2]

const FlagField& hebi::Command::clearLog ( ) const

inline

Clears the log message on the module.

Definition at line 805 of file command.hpp.

◆ debug() [1/2]

NumberedFloatField& hebi::Command::debug ( )

inline

Values for internal debug functions (channel 1-9 available).

Definition at line 782 of file command.hpp.

◆ debug() [2/2]

const NumberedFloatField& hebi::Command::debug ( ) const

inline

Values for internal debug functions (channel 1-9 available).

Definition at line 784 of file command.hpp.

◆ io() [1/2]

Io& hebi::Command::io ( )

inline

Any available digital or analog output pins on the device.

Definition at line 766 of file command.hpp.

◆ io() [2/2]

const Io& hebi::Command::io ( ) const

inline

Any available digital or analog output pins on the device.

Definition at line 768 of file command.hpp.

◆ led() [1/2]

LedField& hebi::Command::led ( )

inline

The module's LED.

Definition at line 807 of file command.hpp.

◆ led() [2/2]

const LedField& hebi::Command::led ( ) const

inline

The module's LED.

Definition at line 809 of file command.hpp.

◆ operator=()

Command& hebi::Command::operator= ( Command && other )

delete

Disable copy constructor/assignment operators

◆ reset() [1/2]

FlagField& hebi::Command::reset ( )

inline

Restart the module.

Definition at line 791 of file command.hpp.

◆ reset() [2/2]

const FlagField& hebi::Command::reset ( ) const

inline

Restart the module.

Definition at line 793 of file command.hpp.

◆ settings() [1/2]

Settings& hebi::Command::settings ( )

inline

Module settings that are typically changed at a slower rate.

Definition at line 770 of file command.hpp.

◆ settings() [2/2]

const Settings& hebi::Command::settings ( ) const

inline

Module settings that are typically changed at a slower rate.

Definition at line 772 of file command.hpp.

◆ stopBoot() [1/2]

FlagField& hebi::Command::stopBoot ( )

inline

Stop the module from automatically booting into application.

Definition at line 799 of file command.hpp.

◆ stopBoot() [2/2]

const FlagField& hebi::Command::stopBoot ( ) const

inline

Stop the module from automatically booting into application.

Definition at line 801 of file command.hpp.

Member Data Documentation

◆ actuator_

Actuator hebi::Command::actuator_

private

Definition at line 822 of file command.hpp.

◆ append_log_

StringField hebi::Command::append_log_

private

Definition at line 825 of file command.hpp.

◆ boot_

FlagField hebi::Command::boot_

private

Definition at line 827 of file command.hpp.

◆ clear_log_

FlagField hebi::Command::clear_log_

private

Definition at line 829 of file command.hpp.

◆ debug_

NumberedFloatField hebi::Command::debug_

private

Definition at line 824 of file command.hpp.

◆ internal_

HebiCommandPtr hebi::Command::internal_

private

C-style object; managed by parent. NOTE: this should not be used except by internal library functions!

Definition at line 744 of file command.hpp.

◆ internal_ref_

HebiCommandRef hebi::Command::internal_ref_

private

Definition at line 745 of file command.hpp.

◆ io_

Io hebi::Command::io_

private

Definition at line 820 of file command.hpp.

◆ led_

LedField hebi::Command::led_

private

Definition at line 830 of file command.hpp.

◆ reset_

FlagField hebi::Command::reset_

private

Definition at line 826 of file command.hpp.

◆ settings_

Settings hebi::Command::settings_

private

Definition at line 821 of file command.hpp.

◆ stop_boot_

FlagField hebi::Command::stop_boot_

private

Definition at line 828 of file command.hpp.

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

Classes

Public Types

Public Member Functions

Protected Types

Private Attributes

Detailed Description

Member Typedef Documentation

◆ CommandGains

Member Enumeration Documentation

◆ ControlStrategy

◆ MstopStrategy

◆ PositionLimitStrategy

Constructor & Destructor Documentation

◆ Command() [1/2]

◆ Command() [2/2]

Member Function Documentation

◆ actuator() [1/2]

◆ actuator() [2/2]

◆ appendLog() [1/2]

◆ appendLog() [2/2]

◆ boot() [1/2]

◆ boot() [2/2]

◆ clearLog() [1/2]

◆ clearLog() [2/2]

◆ debug() [1/2]

◆ debug() [2/2]

◆ io() [1/2]

◆ io() [2/2]

◆ led() [1/2]

◆ led() [2/2]

◆ operator=()

◆ reset() [1/2]

◆ reset() [2/2]

◆ settings() [1/2]

◆ settings() [2/2]

◆ stopBoot() [1/2]

◆ stopBoot() [2/2]

Member Data Documentation

◆ actuator_

◆ append_log_

◆ boot_

◆ clear_log_

◆ debug_

◆ internal_

◆ internal_ref_

◆ io_

◆ led_

◆ reset_

◆ settings_

◆ stop_boot_