.. _program_listing_file__tmp_ws_src_turtlebot3_turtlebot3_node_include_turtlebot3_node_control_table.hpp:

Program Listing for File control_table.hpp
==========================================

|exhale_lsh| :ref:`Return to documentation for file <file__tmp_ws_src_turtlebot3_turtlebot3_node_include_turtlebot3_node_control_table.hpp>` (``/tmp/ws/src/turtlebot3/turtlebot3_node/include/turtlebot3_node/control_table.hpp``)

.. |exhale_lsh| unicode:: U+021B0 .. UPWARDS ARROW WITH TIP LEFTWARDS

.. code-block:: cpp

   // Copyright 2019 ROBOTIS CO., LTD.
   //
   // Licensed under the Apache License, Version 2.0 (the "License");
   // you may not use this file except in compliance with the License.
   // You may obtain a copy of the License at
   //
   //     http://www.apache.org/licenses/LICENSE-2.0
   //
   // Unless required by applicable law or agreed to in writing, software
   // distributed under the License is distributed on an "AS IS" BASIS,
   // WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
   // See the License for the specific language governing permissions and
   // limitations under the License.
   //
   // Author: Darby Lim
   
   #ifndef TURTLEBOT3_NODE__CONTROL_TABLE_HPP_
   #define TURTLEBOT3_NODE__CONTROL_TABLE_HPP_
   
   #include <stdlib.h>
   
   namespace robotis
   {
   namespace turtlebot3
   {
   constexpr uint8_t EEPROM = 1;
   constexpr uint8_t RAM = 2;
   
   constexpr uint8_t READ = 1;
   constexpr uint8_t READ_WRITE = 3;
   
   typedef struct
   {
     uint16_t addr;
     uint8_t memory;
     uint16_t length;
     uint8_t rw;
   } ControlItem;
   
   typedef struct
   {
     ControlItem model_number = {0, EEPROM, 2, READ};
     ControlItem model_information = {2, EEPROM, 4, READ};
     ControlItem firmware_version = {6, EEPROM, 1, READ};
     ControlItem id = {7, EEPROM, 1, READ};
     ControlItem baud_rate = {8, EEPROM, 1, READ};
   
     ControlItem millis = {10, RAM, 4, READ};
     ControlItem micros = {14, RAM, 4, READ};
   
     ControlItem device_status = {18, RAM, 1, READ};
     ControlItem heartbeat = {19, RAM, 1, READ_WRITE};
   
     ControlItem external_led_1 = {20, RAM, 1, READ_WRITE};
     ControlItem external_led_2 = {21, RAM, 1, READ_WRITE};
     ControlItem external_led_3 = {22, RAM, 1, READ_WRITE};
     ControlItem external_led_4 = {23, RAM, 1, READ_WRITE};
   
     ControlItem button_1 = {26, RAM, 1, READ};
     ControlItem button_2 = {27, RAM, 1, READ};
   
     ControlItem bumper_1 = {28, RAM, 1, READ};
     ControlItem bumper_2 = {29, RAM, 1, READ};
   
     ControlItem illumination = {30, RAM, 4, READ};
     ControlItem ir = {34, RAM, 4, READ};
     ControlItem sonar = {38, RAM, 4, READ};
   
     ControlItem battery_voltage = {42, RAM, 4, READ};
     ControlItem battery_percentage = {46, RAM, 4, READ};
   
     ControlItem sound = {50, RAM, 1, READ_WRITE};
   
     ControlItem imu_re_calibration = {59, RAM, 1, READ_WRITE};
   
     ControlItem imu_angular_velocity_x = {60, RAM, 4, READ};
     ControlItem imu_angular_velocity_y = {64, RAM, 4, READ};
     ControlItem imu_angular_velocity_z = {68, RAM, 4, READ};
     ControlItem imu_linear_acceleration_x = {72, RAM, 4, READ};
     ControlItem imu_linear_acceleration_y = {76, RAM, 4, READ};
     ControlItem imu_linear_acceleration_z = {80, RAM, 4, READ};
     ControlItem imu_magnetic_x = {84, RAM, 4, READ};
     ControlItem imu_magnetic_y = {88, RAM, 4, READ};
     ControlItem imu_magnetic_z = {92, RAM, 4, READ};
     ControlItem imu_orientation_w = {96, RAM, 4, READ};
     ControlItem imu_orientation_x = {100, RAM, 4, READ};
     ControlItem imu_orientation_y = {104, RAM, 4, READ};
     ControlItem imu_orientation_z = {108, RAM, 4, READ};
   
     ControlItem present_current_left = {120, RAM, 4, READ};
     ControlItem present_current_right = {124, RAM, 4, READ};
     ControlItem present_velocity_left = {128, RAM, 4, READ};
     ControlItem present_velocity_right = {132, RAM, 4, READ};
     ControlItem present_position_left = {136, RAM, 4, READ};
     ControlItem present_position_right = {140, RAM, 4, READ};
   
     ControlItem motor_torque_enable = {149, RAM, 1, READ_WRITE};
   
     ControlItem cmd_velocity_linear_x = {150, RAM, 4, READ_WRITE};
     ControlItem cmd_velocity_linear_y = {154, RAM, 4, READ_WRITE};
     ControlItem cmd_velocity_linear_z = {158, RAM, 4, READ_WRITE};
     ControlItem cmd_velocity_angular_x = {162, RAM, 4, READ_WRITE};
     ControlItem cmd_velocity_angular_y = {166, RAM, 4, READ_WRITE};
     ControlItem cmd_velocity_angular_z = {170, RAM, 4, READ_WRITE};
   
     ControlItem profile_acceleration_left = {174, RAM, 4, READ_WRITE};
     ControlItem profile_acceleration_right = {178, RAM, 4, READ_WRITE};
   } ControlTable;
   
   const ControlTable extern_control_table;
   }  // namespace turtlebot3
   }  // namespace robotis
   
   #endif  // TURTLEBOT3_NODE__CONTROL_TABLE_HPP_