Struct MsgSteerInfo

Defined in File dispatch.hpp

Struct Documentation

struct MsgSteerInfo

Public Functions

inline void reset()

inline void setAngleRateDegS(float deg_s)

inline bool angleRateValid() const

inline float angleRateDegS() const

inline void setAngleCmdRateDegS(float deg_s)

inline bool angleCmdRateValid() const

inline float angleCmdRateDegS() const

inline void setActuatorCurrentAmps(float amps)

inline bool actuatorCurrentValid() const

inline float actuatorCurrentAmps() const

inline void setOverrideTorqueFilteredNm(float nm)

inline bool overrideTorqueFilteredValid() const

inline float overrideTorqueFilteredNm() const

inline void setOverrideTorqueThresholdNm(float nm)

inline bool overrideTorqueThresholdValid() const

inline float overrideTorqueThresholdNm() const

inline void setCrc()

inline bool validCrc() const

inline bool validRc(uint8_t rc) const

Public Members

int16_t angle_rate

int16_t angle_cmd_rate

int16_t actuator_current

uint16_t override_torque_filtered

uint16_t override_torque_threshold

uint8_t rc

uint8_t crc

Public Static Attributes

static constexpr uint32_t ID = 0x10D

static constexpr size_t PERIOD_MIN = 8

static constexpr size_t PERIOD_MS = 500

static constexpr size_t PERIOD_MAX = 500

static constexpr size_t TIMEOUT_MS = 1750