Class Command::Settings

Defined in File command.hpp

Nested Relationships

This class is a nested type of Class Command.

Nested Types

Class Documentation

class Settings

Module settings that are typically changed at a slower rate.

Public Functions

inline Settings(HebiCommandPtr internal_ptr, HebiCommandRef &internal)

inline Actuator &actuator(): Actuator-specific settings, such as controller gains.

inline const Actuator &actuator() const: Actuator-specific settings, such as controller gains.

inline Imu &imu(): IMU-specific settings.

inline const Imu &imu() const: IMU-specific settings.

inline StringField &name(): Sets the name for this module. Name must be null-terminated character string for the name; must be <= 20 characters.

inline const StringField &name() const: Sets the name for this module. Name must be null-terminated character string for the name; must be <= 20 characters.

inline StringField &family(): Sets the family for this module. Name must be null-terminated character string for the family; must be <= 20 characters.

inline const StringField &family() const: Sets the family for this module. Name must be null-terminated character string for the family; must be <= 20 characters.

inline StringField &userSettingsBytes(size_t number): Sets the given byte array user setting; valid for entry number 1-8. Throws out of range if given an invalid index

inline const StringField &userSettingsBytes(size_t number) const: Sets the given byte array user setting; valid for entry number 1-8. Throws out of range if given an invalid index

inline FloatField &userSettingsFloat(size_t number): Sets the given float user setting; valid for entry number 1-8. Throws out of range if given an invalid index

inline const FloatField &userSettingsFloat(size_t number) const: Sets the given float user setting; valid for entry number 1-8. Throws out of range if given an invalid index

inline IpAddressField &ipAddress(): Sets the static IP address for this module; must be set in conjunction with the subnet mask. Can be set to 0.0.0.0 to reset to DHCP.

inline const IpAddressField &ipAddress() const: Sets the static IP address for this module; must be set in conjunction with the subnet mask. Can be set to 0.0.0.0 to reset to DHCP.

inline IpAddressField &subnetMask(): Sets the subnet mask for this module; must be used with IP Address if setting a static IP address.

inline const IpAddressField &subnetMask() const: Sets the subnet mask for this module; must be used with IP Address if setting a static IP address.

inline FlagField &saveCurrentSettings(): Indicates if the module should save the current values of all of its settings.

inline const FlagField &saveCurrentSettings() const: Indicates if the module should save the current values of all of its settings.

class Actuator

Actuator-specific settings, such as controller gains.

Public Functions

inline Actuator(HebiCommandRef &internal)

inline CommandGains &positionGains(): Controller gains for the position PID loop.

inline const CommandGains &positionGains() const: Controller gains for the position PID loop.

inline CommandGains &velocityGains(): Controller gains for the velocity PID loop.

inline const CommandGains &velocityGains() const: Controller gains for the velocity PID loop.

inline CommandGains &effortGains(): Controller gains for the effort PID loop.

inline const CommandGains &effortGains() const: Controller gains for the effort PID loop.

inline FloatField &springConstant(): The spring constant of the module.

inline const FloatField &springConstant() const: The spring constant of the module.

inline FloatField &referencePosition(): The internal encoder reference offset (setting this matches the current position to the given reference command)

inline const FloatField &referencePosition() const: The internal encoder reference offset (setting this matches the current position to the given reference command)

inline FloatField &referenceEffort(): The internal effort reference offset (setting this matches the current effort to the given reference command)

inline const FloatField &referenceEffort() const: The internal effort reference offset (setting this matches the current effort to the given reference command)

inline FloatField &velocityLimitMin(): The firmware safety limit for the minimum allowed velocity.

inline const FloatField &velocityLimitMin() const: The firmware safety limit for the minimum allowed velocity.

inline FloatField &velocityLimitMax(): The firmware safety limit for the maximum allowed velocity.

inline const FloatField &velocityLimitMax() const: The firmware safety limit for the maximum allowed velocity.

inline FloatField &effortLimitMin(): The firmware safety limit for the minimum allowed effort.

inline const FloatField &effortLimitMin() const: The firmware safety limit for the minimum allowed effort.

inline FloatField &effortLimitMax(): The firmware safety limit for the maximum allowed effort.

inline const FloatField &effortLimitMax() const: The firmware safety limit for the maximum allowed effort.

inline HighResAngleField &positionLimitMin(): The firmware safety limit for the minimum allowed position.

inline const HighResAngleField &positionLimitMin() const: The firmware safety limit for the minimum allowed position.

inline HighResAngleField &positionLimitMax(): The firmware safety limit for the maximum allowed position.

inline const HighResAngleField &positionLimitMax() const: The firmware safety limit for the maximum allowed position.

inline EnumField<ControlStrategy> &controlStrategy(): How the position, velocity, and effort PID loops are connected in order to control motor PWM.

inline const EnumField<ControlStrategy> &controlStrategy() const: How the position, velocity, and effort PID loops are connected in order to control motor PWM.

inline EnumField<MstopStrategy> &mstopStrategy(): The motion stop strategy for the actuator.

inline const EnumField<MstopStrategy> &mstopStrategy() const: The motion stop strategy for the actuator.

inline EnumField<PositionLimitStrategy> &minPositionLimitStrategy(): The position limit strategy (at the minimum position) for the actuator.

inline const EnumField<PositionLimitStrategy> &minPositionLimitStrategy() const: The position limit strategy (at the minimum position) for the actuator.

inline EnumField<PositionLimitStrategy> &maxPositionLimitStrategy(): The position limit strategy (at the maximum position) for the actuator.

inline const EnumField<PositionLimitStrategy> &maxPositionLimitStrategy() const: The position limit strategy (at the maximum position) for the actuator.

class Imu

IMU-specific settings.

Public Functions

inline Imu(HebiCommandRef &internal)

inline BoolField &accelIncludesGravity(): Whether to include acceleration due to gravity in acceleration feedback.

inline const BoolField &accelIncludesGravity() const: Whether to include acceleration due to gravity in acceleration feedback.