Class Info::Settings

Nested Relationships

This class is a nested type of Class Info.

Nested Types

Class Documentation

class Settings

Module settings that are typically changed at a slower rate.

Public Functions

inline Settings(HebiInfoPtr internal_ptr, const HebiInfoRef &internal)
inline const Actuator &actuator() const

Actuator-specific settings, such as controller gains.

inline const Imu &imu() const

IMU-specific settings.

inline const StringField &name() const

Gets the name for this module.

inline const StringField &family() const

Gets the family for this module.

inline const StringField &electricalType() const

Gets the electrical type of this module.

inline const StringField &electricalRevision() const

Gets the electrical revision of this module.

inline const StringField &mechanicalType() const

Gets the mechanical type of this module.

inline const StringField &mechanicalRevision() const

Gets the mechanical revision of this module.

inline const StringField &firmwareType() const

Gets the firmware type of this module.

inline const StringField &firmwareRevision() const

Gets the firmware revision of this module.

inline const StringField &userSettingsBytes(size_t number) const

Gets the given byte array 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

Gets the given float user setting; valid for entry number 1-8. Throws out of range if given an invalid index

inline const IpAddressField &ipAddress() const

Gets the IP address for this module.

inline const IpAddressField &subnetMask() const

Gets the subnet mask for this module.

inline const IpAddressField &defaultGateway() const

Gets the default gateway for this module.

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(const HebiInfoRef &internal)
inline const InfoGains &positionGains() const

Controller gains for the position PID loop.

inline const InfoGains &velocityGains() const

Controller gains for the velocity PID loop.

inline const InfoGains &effortGains() const

Controller gains for the effort PID loop.

inline const FloatField &springConstant() const

The spring constant of the module.

inline const FloatField &velocityLimitMin() const

The firmware safety limit for the minimum allowed velocity.

inline const FloatField &velocityLimitMax() const

The firmware safety limit for the maximum allowed velocity.

inline const FloatField &effortLimitMin() const

The firmware safety limit for the minimum allowed effort.

inline const FloatField &effortLimitMax() const

The firmware safety limit for the maximum allowed effort.

inline const HighResAngleField &positionLimitMin() const

The firmware safety limit for the minimum allowed position.

inline const HighResAngleField &positionLimitMax() const

The firmware safety limit for the maximum allowed position.

inline const EnumField<ControlStrategy> &controlStrategy() const

How the position, velocity, and effort PID loops are connected in order to control motor PWM.

inline const EnumField<MstopStrategy> &mstopStrategy() const

The motion stop strategy for the actuator.

inline const EnumField<PositionLimitStrategy> &minPositionLimitStrategy() const

The position limit strategy (at the minimum 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(const HebiInfoRef &internal)
inline const BoolField &accelIncludesGravity() const

Whether to include acceleration due to gravity in acceleration feedback.