C++ API

Class Hierarchy

• • Namespace FeedbackBit
    • Enum @0
  • Namespace puma_motor_driver
    • Struct Message
    • Class Driver
      • Struct Driver::Field
    • Class Gateway
    • Class PumaMotorDriverDiagnosticUpdater
    • Class SerialGateway
    • Class SocketCANGateway
  • Namespace StatusBit
    • Enum @1
  • Class MultiPumaNode

File Hierarchy

• • Directory include
    • Directory puma_motor_driver
      • File can_proto.hpp
      • File diagnostic_updater.hpp
      • File driver.hpp
      • File gateway.hpp
      • File message.hpp
      • File multi_puma_node.hpp
      • File serial_gateway.hpp
      • File socketcan_gateway.hpp

Full C++ API

Namespaces

• Namespace diagnostic_updater

• Namespace FeedbackBit

• Namespace puma_motor_driver

• Namespace rclcpp

• Namespace StatusBit

Classes and Structs

• Struct Driver::Field

• Struct Message

• Class MultiPumaNode

• Class Driver

• Class Gateway

• Class PumaMotorDriverDiagnosticUpdater

• Class SerialGateway

• Class SocketCANGateway

Enums

• Enum @0

• Enum @1

Defines

• Define CAN_API_MC_ACK

• Define CAN_API_MC_CFG

• Define CAN_API_MC_ICTRL

• Define CAN_API_MC_POS

• Define CAN_API_MC_PSTAT

• Define CAN_API_MC_SPD

• Define CAN_API_MC_STATUS

• Define CAN_API_MC_VCOMP

• Define CAN_API_MC_VOLTAGE

• Define CAN_MSGID_API_CLASS_M

• Define CAN_MSGID_API_DEVASSIGN

• Define CAN_MSGID_API_DEVQUERY

• Define CAN_MSGID_API_ENUMERATE

• Define CAN_MSGID_API_FIRMVER

• Define CAN_MSGID_API_HEARTBEAT

• Define CAN_MSGID_API_ID_M

• Define CAN_MSGID_API_M

• Define CAN_MSGID_API_S

• Define CAN_MSGID_API_SYNC

• Define CAN_MSGID_API_SYSHALT

• Define CAN_MSGID_API_SYSRESUME

• Define CAN_MSGID_API_SYSRST

• Define CAN_MSGID_API_UPDATE

• Define CAN_MSGID_DEVNO_BCAST

• Define CAN_MSGID_DEVNO_M

• Define CAN_MSGID_DEVNO_S

• Define CAN_MSGID_DTYPE_ACCEL

• Define CAN_MSGID_DTYPE_BCAST

• Define CAN_MSGID_DTYPE_GEART

• Define CAN_MSGID_DTYPE_GYRO

• Define CAN_MSGID_DTYPE_M

• Define CAN_MSGID_DTYPE_MOTOR

• Define CAN_MSGID_DTYPE_RELAY

• Define CAN_MSGID_DTYPE_ROBOT

• Define CAN_MSGID_DTYPE_S

• Define CAN_MSGID_DTYPE_UPDATE

• Define CAN_MSGID_DTYPE_USONIC

• Define CAN_MSGID_FULL_M

• Define CAN_MSGID_MFR_DEKA

• Define CAN_MSGID_MFR_LM

• Define CAN_MSGID_MFR_M

• Define CAN_MSGID_MFR_NI

• Define CAN_MSGID_MFR_S

• Define CAN_STATUS_CODE_M

• Define CAN_STATUS_CODE_S

• Define CAN_STATUS_DTYPE_M

• Define CAN_STATUS_DTYPE_S

• Define CAN_STATUS_MFG_M

• Define CAN_STATUS_MFG_S

• Define CPR_API_CFG_MINIMUM_LEVEL

• Define CPR_API_CFG_NOMINAL_LEVEL

• Define CPR_API_CFG_SHUTDOWN_TEMP

• Define CPR_API_CFG_SHUTOFF_LEVEL

• Define CPR_API_CFG_SHUTOFF_TIME

• Define CPR_API_STATUS_ANALOG

• Define LM_API_ACK

• Define LM_API_CFG

• Define LM_API_CFG_BRAKE_COAST

• Define LM_API_CFG_ENC_LINES

• Define LM_API_CFG_FAULT_TIME

• Define LM_API_CFG_LIMIT_FWD

• Define LM_API_CFG_LIMIT_MODE

• Define LM_API_CFG_LIMIT_REV

• Define LM_API_CFG_MAX_VOUT

• Define LM_API_CFG_NUM_BRUSHES

• Define LM_API_CFG_POT_TURNS

• Define LM_API_HWVER

• Define LM_API_ICTRL

• Define LM_API_ICTRL_DC

• Define LM_API_ICTRL_DIS

• Define LM_API_ICTRL_EN

• Define LM_API_ICTRL_IC

• Define LM_API_ICTRL_PC

• Define LM_API_ICTRL_SET

• Define LM_API_ICTRL_SET_NO_ACK

• Define LM_API_POS

• Define LM_API_POS_DC

• Define LM_API_POS_DIS

• Define LM_API_POS_EN

• Define LM_API_POS_IC

• Define LM_API_POS_PC

• Define LM_API_POS_REF

• Define LM_API_POS_SET

• Define LM_API_POS_SET_NO_ACK

• Define LM_API_PSTAT

• Define LM_API_PSTAT_CFG_S0

• Define LM_API_PSTAT_CFG_S1

• Define LM_API_PSTAT_CFG_S2

• Define LM_API_PSTAT_CFG_S3

• Define LM_API_PSTAT_DATA_S0

• Define LM_API_PSTAT_DATA_S1

• Define LM_API_PSTAT_DATA_S2

• Define LM_API_PSTAT_DATA_S3

• Define LM_API_PSTAT_PER_EN_S0

• Define LM_API_PSTAT_PER_EN_S1

• Define LM_API_PSTAT_PER_EN_S2

• Define LM_API_PSTAT_PER_EN_S3

• Define LM_API_SPD

• Define LM_API_SPD_DC

• Define LM_API_SPD_DIS

• Define LM_API_SPD_EN

• Define LM_API_SPD_IC

• Define LM_API_SPD_PC

• Define LM_API_SPD_REF

• Define LM_API_SPD_SET

• Define LM_API_SPD_SET_NO_ACK

• Define LM_API_STATUS

• Define LM_API_STATUS_CMODE

• Define LM_API_STATUS_CURRENT

• Define LM_API_STATUS_FAULT

• Define LM_API_STATUS_FLT_COUNT

• Define LM_API_STATUS_LIMIT

• Define LM_API_STATUS_POS

• Define LM_API_STATUS_POWER

• Define LM_API_STATUS_SPD

• Define LM_API_STATUS_STKY_FLT

• Define LM_API_STATUS_TEMP

• Define LM_API_STATUS_VOLTBUS

• Define LM_API_STATUS_VOLTOUT

• Define LM_API_STATUS_VOUT

• Define LM_API_SYNC_PEND_NOW

• Define LM_API_UPD

• Define LM_API_UPD_ACK

• Define LM_API_UPD_DOWNLOAD

• Define LM_API_UPD_PING

• Define LM_API_UPD_REQUEST

• Define LM_API_UPD_RESET

• Define LM_API_UPD_SEND_DATA

• Define LM_API_VCOMP

• Define LM_API_VCOMP_COMP_RAMP

• Define LM_API_VCOMP_DIS

• Define LM_API_VCOMP_EN

• Define LM_API_VCOMP_IN_RAMP

• Define LM_API_VCOMP_SET

• Define LM_API_VCOMP_SET_NO_ACK

• Define LM_API_VOLT

• Define LM_API_VOLT_DIS

• Define LM_API_VOLT_EN

• Define LM_API_VOLT_RAMP_DIS

• Define LM_API_VOLT_SET

• Define LM_API_VOLT_SET_NO_ACK

• Define LM_API_VOLT_SET_RAMP

• Define LM_FAULT_COMM

• Define LM_FAULT_CURRENT

• Define LM_FAULT_GATE_DRIVE

• Define LM_FAULT_TEMP

• Define LM_FAULT_VBUS

• Define LM_HWVER_JAG_1_0

• Define LM_HWVER_JAG_2_0

• Define LM_HWVER_UNKNOWN

• Define LM_PSTAT_CANERR_B0

• Define LM_PSTAT_CANERR_B1

• Define LM_PSTAT_CANSTS

• Define LM_PSTAT_CURRENT_B0

• Define LM_PSTAT_CURRENT_B1

• Define LM_PSTAT_END

• Define LM_PSTAT_FAULT

• Define LM_PSTAT_FLT_COUNT_COMM

• Define LM_PSTAT_FLT_COUNT_CURRENT

• Define LM_PSTAT_FLT_COUNT_GATE

• Define LM_PSTAT_FLT_COUNT_TEMP

• Define LM_PSTAT_FLT_COUNT_VOLTBUS

• Define LM_PSTAT_LIMIT_CLR

• Define LM_PSTAT_LIMIT_NCLR

• Define LM_PSTAT_POS_B0

• Define LM_PSTAT_POS_B1

• Define LM_PSTAT_POS_B2

• Define LM_PSTAT_POS_B3

• Define LM_PSTAT_SPD_B0

• Define LM_PSTAT_SPD_B1

• Define LM_PSTAT_SPD_B2

• Define LM_PSTAT_SPD_B3

• Define LM_PSTAT_STKY_FLT_CLR

• Define LM_PSTAT_STKY_FLT_NCLR

• Define LM_PSTAT_TEMP_B0

• Define LM_PSTAT_TEMP_B1

• Define LM_PSTAT_VOLTBUS_B0

• Define LM_PSTAT_VOLTBUS_B1

• Define LM_PSTAT_VOLTOUT_B0

• Define LM_PSTAT_VOLTOUT_B1

• Define LM_PSTAT_VOUT_B0

• Define LM_PSTAT_VOUT_B1

• Define LM_REF_ENCODER

• Define LM_REF_INV_ENCODER

• Define LM_REF_NONE

• Define LM_REF_POT

• Define LM_REF_QUAD_ENCODER

• Define LM_STATUS_CMODE_CURRENT

• Define LM_STATUS_CMODE_POS

• Define LM_STATUS_CMODE_SPEED

• Define LM_STATUS_CMODE_VCOMP

• Define LM_STATUS_CMODE_VOLT

• Define LM_STATUS_FAULT_ILIMIT

• Define LM_STATUS_FAULT_TLIMIT

• Define LM_STATUS_FAULT_VLIMIT

• Define LM_STATUS_LIMIT_FWD

• Define LM_STATUS_LIMIT_REV

Directories

• Directory include

• Directory puma_motor_driver

Files

• File can_proto.hpp

• File diagnostic_updater.hpp

• File driver.hpp

• File gateway.hpp

• File message.hpp

• File multi_puma_node.hpp

• File serial_gateway.hpp

• File socketcan_gateway.hpp