Namespaces
	serial

Classes
class	ArrayBuilder

class	Logger
	Small singleton-based logging class with an exchangeable log handler. More...

class	LogHandler

class	ShellLogHandler

class	SVHControlCommand
	ControlCommands are given as a single target position for the position controller (given in ticks) More...

class	SVHControlCommandAllChannels
	Structure for transmitting all controllcommands at once. More...

class	SVHController
	This class controls the the SCHUNK five finger hand. More...

struct	SVHControllerFeedback
	The SVHControllerFeedback saves the feedback of a single motor. More...

struct	SVHControllerFeedbackAllChannels
	The SVHControllerFeedbackAllChannes saves the feedback of a all motors. More...

struct	SVHControllerState
	The SVHControllerState indicates the current state of the MeCoVis controller IC which is used in the SVH. More...

struct	SVHCurrentSettings
	The SVHCurrentSettings save the current controller paramters for a single motor. More...

struct	SVHEncoderSettings
	The SVHEncoderSettings hold the settings for the encoder scaling of each channel. More...

class	SVHFingerManager

struct	SVHFirmwareInfo
	The SVHFirmwareInfo holds the data of a firmware response from the hardware. More...

struct	SVHHomeSettings
	data sctructure for home positions More...

struct	SVHPositionSettings
	The SVHPositionSettings save the position controller paramters for a single motor. More...

class	SVHReceiveThread
	Class for receiving messages from the serial device. More...

class	SVHSerialInterface
	Basic communication handler for the SCHUNK five finger hand. More...

struct	SVHSerialPacket
	The SerialPacket holds the (non generated) header and data of one message to the SVH-Hardware. More...

Typedefs
using	ReceivedPacketCallback = std::function< void(const SVHSerialPacket &packet, unsigned int packet_count)>
	definition of function callback for received packages More...

Enumerations
enum	LogLevel { LogLevel::DEBUG = 0, LogLevel::INFO, LogLevel::WARN, LogLevel::ERROR, LogLevel::FATAL, LogLevel::NONE }

enum	SVHChannel { SVH_ALL = -1, SVH_THUMB_FLEXION = 0, SVH_THUMB_OPPOSITION, SVH_INDEX_FINGER_DISTAL, SVH_INDEX_FINGER_PROXIMAL, SVH_MIDDLE_FINGER_DISTAL, SVH_MIDDLE_FINGER_PROXIMAL, SVH_RING_FINGER, SVH_PINKY, SVH_FINGER_SPREAD, SVH_DIMENSION }

Functions
template<typename T >
size_t	fromLittleEndian (T &data, std::vector< uint8_t > &array, size_t &read_pos)

template<>
DRIVER_SVH_IMPORT_EXPORT size_t	fromLittleEndian< double > (double &data, std::vector< uint8_t > &array, size_t &read_pos)
	Template specialization for float as these have to be handled seperately. More...

template<>
DRIVER_SVH_IMPORT_EXPORT size_t	fromLittleEndian< float > (float &data, std::vector< uint8_t > &array, size_t &read_pos)
	Template specialization for float as these have to be handled seperately. More...

std::string	logLevelToString (const LogLevel level)

driver_svh::ArrayBuilder &	operator<< (driver_svh::ArrayBuilder &ab, const SVHControlCommand &data)

driver_svh::ArrayBuilder &	operator<< (driver_svh::ArrayBuilder &ab, const SVHControlCommandAllChannels &data)
	overload stream operator to easily serialize control commands for all channels More...

driver_svh::ArrayBuilder &	operator<< (driver_svh::ArrayBuilder &ab, const SVHControllerFeedback &data)
	Overload stream operator to easily serialize feedback data. More...

driver_svh::ArrayBuilder &	operator<< (driver_svh::ArrayBuilder &ab, const SVHControllerState &data)
	overload stream operator to easily serialize controller state data More...

driver_svh::ArrayBuilder &	operator<< (driver_svh::ArrayBuilder &ab, const SVHCurrentSettings &data)
	overload stream operator to easily serialize current settings data More...

driver_svh::ArrayBuilder &	operator<< (driver_svh::ArrayBuilder &ab, const SVHEncoderSettings &data)
	overload stream operator to easily serialize encoder scaling data More...

driver_svh::ArrayBuilder &	operator<< (driver_svh::ArrayBuilder &ab, const SVHPositionSettings &data)
	overload stream operator to easily serialize position settings data More...

driver_svh::ArrayBuilder &	operator<< (driver_svh::ArrayBuilder &ab, const SVHSerialPacket &data)
	overload stream operator to easily serialize raw packet data More...

driver_svh::ArrayBuilder &	operator<< (driver_svh::ArrayBuilder &ab, SVHControllerFeedbackAllChannels &data)
	Overload stream operator to easily serialize all channel feedback data. More...

driver_svh::ArrayBuilder &	operator<< (driver_svh::ArrayBuilder &ab, SVHFirmwareInfo &data)
	overload stream operator to easily serialize firmware data More...

std::ostream &	operator<< (std::ostream &o, const ArrayBuilder &ab)
	debug output of array as hex values More...

std::ostream &	operator<< (std::ostream &o, const SVHControlCommand &cc)
	Output Stream operator for fast debugging. More...

std::ostream &	operator<< (std::ostream &o, const SVHControlCommandAllChannels &cc)
	Output Stream operator of all channels control command. More...

std::ostream &	operator<< (std::ostream &o, const SVHControllerFeedback &cf)
	Output stream operator for easy output of feedback data. More...

std::ostream &	operator<< (std::ostream &o, const SVHControllerFeedbackAllChannels &cf)
	Output stream operator for easy output of all channel feedback data. More...

std::ostream &	operator<< (std::ostream &o, const SVHControllerState &cs)
	Output Stream operator to easily output controller state data. More...

std::ostream &	operator<< (std::ostream &o, const SVHCurrentSettings &cs)
	Output stream operator for easy output of current settings. More...

std::ostream &	operator<< (std::ostream &o, const SVHEncoderSettings &es)
	Output Stream operator for easy output of the encoder scalings. More...

std::ostream &	operator<< (std::ostream &o, const SVHFirmwareInfo &fw)
	Output Stream operator for easy output of the firmware information. More...

std::ostream &	operator<< (std::ostream &o, const SVHHomeSettings &hs)
	Output stream operator to easily print position settings. More...

std::ostream &	operator<< (std::ostream &o, const SVHPositionSettings &ps)
	Output stream operator to easily print position settings. More...

std::ostream &	operator<< (std::ostream &o, const SVHSerialPacket &sp)
	Output Stream operator for easy printing of packet data. More...

driver_svh::ArrayBuilder &	operator>> (driver_svh::ArrayBuilder &ab, SVHControlCommand &data)
	overload stream operator to easily deserialize control commands for one channel More...

driver_svh::ArrayBuilder &	operator>> (driver_svh::ArrayBuilder &ab, SVHControlCommandAllChannels &data)
	overload stream operator to easily deserialize control commands for all channels More...

driver_svh::ArrayBuilder &	operator>> (driver_svh::ArrayBuilder &ab, SVHControllerFeedback &data)
	Overload stream operator to easily deserialize feedback data. More...

driver_svh::ArrayBuilder &	operator>> (driver_svh::ArrayBuilder &ab, SVHControllerFeedbackAllChannels &data)
	Overload stream operator to easily deserialize all channel feedback data. More...

driver_svh::ArrayBuilder &	operator>> (driver_svh::ArrayBuilder &ab, SVHControllerState &data)
	overload stream operator to easily serialize controller state data More...

driver_svh::ArrayBuilder &	operator>> (driver_svh::ArrayBuilder &ab, SVHCurrentSettings &data)
	overload stream operator to easily serialize current settings data More...

driver_svh::ArrayBuilder &	operator>> (driver_svh::ArrayBuilder &ab, SVHEncoderSettings &data)
	overload stream operator to easily serialize encoder scaling data More...

driver_svh::ArrayBuilder &	operator>> (driver_svh::ArrayBuilder &ab, SVHFirmwareInfo &data)
	overload stream operator to easily serialize firmware data More...

driver_svh::ArrayBuilder &	operator>> (driver_svh::ArrayBuilder &ab, SVHPositionSettings &data)
	overload stream operator to easily deserialize position settings data More...

driver_svh::ArrayBuilder &	operator>> (driver_svh::ArrayBuilder &ab, SVHSerialPacket &data)
	overload stream operator to easily deserialize raw packet data More...

template<typename T >
size_t	toLittleEndian (const T &data, std::vector< uint8_t > &array, size_t &write_pos)
	template function for adding data to an array while converting everything into correct endianess More...

template<>
DRIVER_SVH_IMPORT_EXPORT size_t	toLittleEndian< double > (const double &data, std::vector< uint8_t > &array, size_t &write_pos)
	Template specialization for float as these have to be handled seperately. More...

template<>
DRIVER_SVH_IMPORT_EXPORT size_t	toLittleEndian< float > (const float &data, std::vector< uint8_t > &array, size_t &write_pos)
	Template specialization for float as these have to be handled seperately. More...

Variables
const size_t	C_DEFAULT_PACKET_SIZE = 48
	Default packet payload size in bytes. More...

const size_t	C_PACKET_APPENDIX_SIZE = 8
	The packet overhead size in bytes. More...

const uint8_t	PACKET_HEADER1 = 0x4C
	Header sync byte 1. More...

const uint8_t	PACKET_HEADER2 = 0xAA
	Header sync byte 2. More...

const uint8_t	SVH_GET_CONTROL_FEEDBACK
	Request the position and current of a channel to be sent. More...

const uint8_t	SVH_GET_CONTROL_FEEDBACK_ALL
	Requests the positions and currents of ALL channels. More...

const uint8_t	SVH_GET_CONTROLLER_STATE
	Requests the state of the controller (active,faults,enabled channels) More...

const uint8_t	SVH_GET_CURRENT_SETTINGS
	Requests the active settings of the current controller. More...

const uint8_t	SVH_GET_ENCODER_VALUES = 0x0A
	Request the current encoder scalings. More...

const uint8_t	SVH_GET_FIRMWARE_INFO = 0x0C
	Request the firmware info to be transmitted. More...

const uint8_t	SVH_GET_POSITION_SETTINGS
	Requests the active settings of the position controller. More...

const uint8_t	SVH_SET_CONTROL_COMMAND = 0x01
	Sets the target position of a channel. More...

const uint8_t	SVH_SET_CONTROL_COMMAND_ALL = 0x03
	Sends the target position to ALL the channels. More...

const uint8_t	SVH_SET_CONTROLLER_STATE
	Sets new controller states (enable channels, clear faults) More...

const uint8_t	SVH_SET_CURRENT_SETTINGS = 0x07
	Sets new settings for the current controller. More...

const uint8_t	SVH_SET_ENCODER_VALUES = 0x0B
	Set new encoder scalings. More...

const uint8_t	SVH_SET_POSITION_SETTINGS = 0x05
	Sets new settings for the position controller. More...

Typedef Documentation

◆ ReceivedPacketCallback

using driver_svh::ReceivedPacketCallback = typedef std::function<void(const SVHSerialPacket& packet, unsigned int packet_count)>

definition of function callback for received packages

Definition at line 59 of file SVHReceiveThread.h.

Enumeration Type Documentation

◆ LogLevel

enum driver_svh::LogLevel

strong

Enumerator
DEBUG
INFO
WARN
ERROR
FATAL
NONE

Definition at line 37 of file LogLevel.h.

◆ SVHChannel

enum driver_svh::SVHChannel

Channel indicates which motor to use in command calls. WARNING: DO NOT CHANGE THE ORDER OF THESE as it represents the hardware mapping

Enumerator
SVH_ALL
SVH_THUMB_FLEXION
SVH_THUMB_OPPOSITION
SVH_INDEX_FINGER_DISTAL
SVH_INDEX_FINGER_PROXIMAL
SVH_MIDDLE_FINGER_DISTAL
SVH_MIDDLE_FINGER_PROXIMAL
SVH_RING_FINGER
SVH_PINKY
SVH_FINGER_SPREAD
SVH_DIMENSION

Definition at line 65 of file SVHController.h.

Function Documentation

◆ fromLittleEndian()

template<typename T >

size_t driver_svh::fromLittleEndian	(	T &	data,
		std::vector< uint8_t > &	array,
		size_t &	read_pos
	)

template function for reating data out of an array while converting everything into correct endianess

Definition at line 86 of file ByteOrderConversion.h.

◆ fromLittleEndian< double >()

template<>

size_t driver_svh::fromLittleEndian< double >	(	double &	data,
		std::vector< uint8_t > &	array,
		size_t &	read_pos
	)

Template specialization for float as these have to be handled seperately.

As Bit Shifts for doubles are dissallowed they have to be given as reinterpreted value to currectly shift each byte individually

Definition at line 75 of file ByteOrderConversion.cpp.

◆ fromLittleEndian< float >()

template<>

size_t driver_svh::fromLittleEndian< float >	(	float &	data,
		std::vector< uint8_t > &	array,
		size_t &	read_pos
	)

Template specialization for float as these have to be handled seperately.

As Bit Shifts for floats are dissallowed they have to be given as reinterpreted value to currectly shift each byte individually

Definition at line 67 of file ByteOrderConversion.cpp.

◆ logLevelToString()

std::string driver_svh::logLevelToString ( const LogLevel level )

inline

Definition at line 47 of file LogLevel.h.

◆ operator<<() [1/22]

driver_svh::ArrayBuilder& driver_svh::operator<<	(	driver_svh::ArrayBuilder &	ab,
		const SVHControlCommand &	data
	)

inline

overload stream operator to easily serialize control commands for one channel slightly uneccessary at this point but put in anayway for the time it`s needed

Definition at line 134 of file SVHControlCommand.h.

◆ operator<<() [2/22]

driver_svh::ArrayBuilder& driver_svh::operator<<	(	driver_svh::ArrayBuilder &	ab,
		const SVHControlCommandAllChannels &	data
	)

inline

overload stream operator to easily serialize control commands for all channels

Definition at line 157 of file SVHControlCommand.h.

◆ operator<<() [3/22]

driver_svh::ArrayBuilder& driver_svh::operator<<	(	driver_svh::ArrayBuilder &	ab,
		const SVHControllerFeedback &	data
	)

inline

Overload stream operator to easily serialize feedback data.

Definition at line 139 of file SVHControllerFeedback.h.

◆ operator<<() [4/22]

driver_svh::ArrayBuilder& driver_svh::operator<<	(	driver_svh::ArrayBuilder &	ab,
		const SVHControllerState &	data
	)

inline

overload stream operator to easily serialize controller state data

Definition at line 95 of file SVHControllerState.h.

◆ operator<<() [5/22]

driver_svh::ArrayBuilder& driver_svh::operator<<	(	driver_svh::ArrayBuilder &	ab,
		const SVHCurrentSettings &	data
	)

inline

overload stream operator to easily serialize current settings data

Definition at line 146 of file SVHCurrentSettings.h.

◆ operator<<() [6/22]

driver_svh::ArrayBuilder& driver_svh::operator<<	(	driver_svh::ArrayBuilder &	ab,
		const SVHEncoderSettings &	data
	)

inline

overload stream operator to easily serialize encoder scaling data

Definition at line 67 of file SVHEncoderSettings.h.

◆ operator<<() [7/22]

driver_svh::ArrayBuilder& driver_svh::operator<<	(	driver_svh::ArrayBuilder &	ab,
		const SVHPositionSettings &	data
	)

inline

overload stream operator to easily serialize position settings data

Definition at line 150 of file SVHPositionSettings.h.

◆ operator<<() [8/22]

driver_svh::ArrayBuilder & driver_svh::operator<<	(	driver_svh::ArrayBuilder &	ab,
		const SVHSerialPacket &	data
	)

overload stream operator to easily serialize raw packet data

Definition at line 40 of file SVHSerialPacket.cpp.

◆ operator<<() [9/22]

driver_svh::ArrayBuilder& driver_svh::operator<<	(	driver_svh::ArrayBuilder &	ab,
		SVHControllerFeedbackAllChannels &	data
	)

inline

Overload stream operator to easily serialize all channel feedback data.

Definition at line 164 of file SVHControllerFeedback.h.

◆ operator<<() [10/22]

driver_svh::ArrayBuilder& driver_svh::operator<<	(	driver_svh::ArrayBuilder &	ab,
		SVHFirmwareInfo &	data
	)

inline

overload stream operator to easily serialize firmware data

Definition at line 67 of file SVHFirmwareInfo.h.

◆ operator<<() [11/22]

std::ostream & driver_svh::operator<<	(	std::ostream &	o,
		const ArrayBuilder &	ab
	)

debug output of array as hex values

Definition at line 38 of file ByteOrderConversion.cpp.

◆ operator<<() [12/22]

std::ostream& driver_svh::operator<<	(	std::ostream &	o,
		const SVHControlCommand &	cc
	)

inline

Output Stream operator for fast debugging.

Definition at line 150 of file SVHControlCommand.h.

◆ operator<<() [13/22]

std::ostream& driver_svh::operator<<	(	std::ostream &	o,
		const SVHControlCommandAllChannels &	cc
	)

inline

Output Stream operator of all channels control command.

Definition at line 186 of file SVHControlCommand.h.

◆ operator<<() [14/22]

std::ostream& driver_svh::operator<<	(	std::ostream &	o,
		const SVHControllerFeedback &	cf
	)

inline

Output stream operator for easy output of feedback data.

Definition at line 156 of file SVHControllerFeedback.h.

◆ operator<<() [15/22]

std::ostream& driver_svh::operator<<	(	std::ostream &	o,
		const SVHControllerFeedbackAllChannels &	cf
	)

inline

Output stream operator for easy output of all channel feedback data.

Definition at line 209 of file SVHControllerFeedback.h.

◆ operator<<() [16/22]

std::ostream& driver_svh::operator<<	(	std::ostream &	o,
		const SVHControllerState &	cs
	)

inline

Output Stream operator to easily output controller state data.

Definition at line 113 of file SVHControllerState.h.

◆ operator<<() [17/22]

std::ostream& driver_svh::operator<<	(	std::ostream &	o,
		const SVHCurrentSettings &	cs
	)

inline

Output stream operator for easy output of current settings.

Definition at line 165 of file SVHCurrentSettings.h.

◆ operator<<() [18/22]

std::ostream& driver_svh::operator<<	(	std::ostream &	o,
		const SVHEncoderSettings &	es
	)

inline

Output Stream operator for easy output of the encoder scalings.

Definition at line 84 of file SVHEncoderSettings.h.

◆ operator<<() [19/22]

std::ostream& driver_svh::operator<<	(	std::ostream &	o,
		const SVHFirmwareInfo &	fw
	)

inline

Output Stream operator for easy output of the firmware information.

Definition at line 104 of file SVHFirmwareInfo.h.

◆ operator<<() [20/22]

std::ostream& driver_svh::operator<<	(	std::ostream &	o,
		const SVHHomeSettings &	hs
	)

inline

Output stream operator to easily print position settings.

Definition at line 137 of file SVHHomeSettings.h.

◆ operator<<() [21/22]

std::ostream& driver_svh::operator<<	(	std::ostream &	o,
		const SVHPositionSettings &	ps
	)

inline

Output stream operator to easily print position settings.

Definition at line 167 of file SVHPositionSettings.h.

◆ operator<<() [22/22]

std::ostream & driver_svh::operator<<	(	std::ostream &	o,
		const SVHSerialPacket &	sp
	)

Output Stream operator for easy printing of packet data.

Definition at line 54 of file SVHSerialPacket.cpp.

◆ operator>>() [1/10]

driver_svh::ArrayBuilder& driver_svh::operator>>	(	driver_svh::ArrayBuilder &	ab,
		SVHControlCommand &	data
	)

inline

overload stream operator to easily deserialize control commands for one channel

Definition at line 143 of file SVHControlCommand.h.

◆ operator>>() [2/10]

driver_svh::ArrayBuilder& driver_svh::operator>>	(	driver_svh::ArrayBuilder &	ab,
		SVHControlCommandAllChannels &	data
	)

inline

overload stream operator to easily deserialize control commands for all channels

Definition at line 172 of file SVHControlCommand.h.

◆ operator>>() [3/10]

driver_svh::ArrayBuilder& driver_svh::operator>>	(	driver_svh::ArrayBuilder &	ab,
		SVHControllerFeedback &	data
	)

inline

Overload stream operator to easily deserialize feedback data.

Definition at line 148 of file SVHControllerFeedback.h.

◆ operator>>() [4/10]

driver_svh::ArrayBuilder& driver_svh::operator>>	(	driver_svh::ArrayBuilder &	ab,
		SVHControllerFeedbackAllChannels &	data
	)

inline

Overload stream operator to easily deserialize all channel feedback data.

Definition at line 187 of file SVHControllerFeedback.h.

◆ operator>>() [5/10]

driver_svh::ArrayBuilder& driver_svh::operator>>	(	driver_svh::ArrayBuilder &	ab,
		SVHControllerState &	data
	)

inline

overload stream operator to easily serialize controller state data

Definition at line 104 of file SVHControllerState.h.

◆ operator>>() [6/10]

driver_svh::ArrayBuilder& driver_svh::operator>>	(	driver_svh::ArrayBuilder &	ab,
		SVHCurrentSettings &	data
	)

inline

overload stream operator to easily serialize current settings data

Definition at line 155 of file SVHCurrentSettings.h.

◆ operator>>() [7/10]

driver_svh::ArrayBuilder& driver_svh::operator>>	(	driver_svh::ArrayBuilder &	ab,
		SVHEncoderSettings &	data
	)

inline

overload stream operator to easily serialize encoder scaling data

Definition at line 76 of file SVHEncoderSettings.h.

◆ operator>>() [8/10]

driver_svh::ArrayBuilder& driver_svh::operator>>	(	driver_svh::ArrayBuilder &	ab,
		SVHFirmwareInfo &	data
	)

inline

overload stream operator to easily serialize firmware data

Definition at line 85 of file SVHFirmwareInfo.h.

◆ operator>>() [9/10]

driver_svh::ArrayBuilder& driver_svh::operator>>	(	driver_svh::ArrayBuilder &	ab,
		SVHPositionSettings &	data
	)

inline

overload stream operator to easily deserialize position settings data

Definition at line 159 of file SVHPositionSettings.h.

◆ operator>>() [10/10]

driver_svh::ArrayBuilder & driver_svh::operator>>	(	driver_svh::ArrayBuilder &	ab,
		SVHSerialPacket &	data
	)

overload stream operator to easily deserialize raw packet data

Definition at line 46 of file SVHSerialPacket.cpp.

◆ toLittleEndian()

template<typename T >

size_t driver_svh::toLittleEndian	(	const T &	data,
		std::vector< uint8_t > &	array,
		size_t &	write_pos
	)

template function for adding data to an array while converting everything into correct endianess

Definition at line 47 of file ByteOrderConversion.h.

◆ toLittleEndian< double >()

template<>

size_t driver_svh::toLittleEndian< double >	(	const double &	data,
		std::vector< uint8_t > &	array,
		size_t &	write_pos
	)

Template specialization for float as these have to be handled seperately.

As Bit Shifts for doubles are dissallowed they have to be given as reinterpreted value to currectly shift each byte individually

Definition at line 59 of file ByteOrderConversion.cpp.

◆ toLittleEndian< float >()

template<>

size_t driver_svh::toLittleEndian< float >	(	const float &	data,
		std::vector< uint8_t > &	array,
		size_t &	write_pos
	)

Template specialization for float as these have to be handled seperately.

As Bit Shifts for floats are dissallowed they have to be given as reinterpreted value to currectly shift each byte individually

Definition at line 51 of file ByteOrderConversion.cpp.

Variable Documentation

◆ C_DEFAULT_PACKET_SIZE

const size_t driver_svh::C_DEFAULT_PACKET_SIZE = 48

Default packet payload size in bytes.

Definition at line 49 of file SVHSerialPacket.h.

◆ C_PACKET_APPENDIX_SIZE

const size_t driver_svh::C_PACKET_APPENDIX_SIZE = 8

The packet overhead size in bytes.

Definition at line 48 of file SVHSerialPacket.h.

◆ PACKET_HEADER1

const uint8_t driver_svh::PACKET_HEADER1 = 0x4C

Header sync byte 1.

Definition at line 52 of file SVHSerialPacket.h.

◆ PACKET_HEADER2

const uint8_t driver_svh::PACKET_HEADER2 = 0xAA

Header sync byte 2.

Definition at line 53 of file SVHSerialPacket.h.

◆ SVH_GET_CONTROL_FEEDBACK

const uint8_t driver_svh::SVH_GET_CONTROL_FEEDBACK

Initial value:

=

0x00

Request the position and current of a channel to be sent.

Definition at line 56 of file SVHSerialPacket.h.

◆ SVH_GET_CONTROL_FEEDBACK_ALL

const uint8_t driver_svh::SVH_GET_CONTROL_FEEDBACK_ALL

Initial value:

=

0x02

Requests the positions and currents of ALL channels.

Definition at line 59 of file SVHSerialPacket.h.

◆ SVH_GET_CONTROLLER_STATE

const uint8_t driver_svh::SVH_GET_CONTROLLER_STATE

Initial value:

=

0x08

Requests the state of the controller (active,faults,enabled channels)

Definition at line 68 of file SVHSerialPacket.h.

◆ SVH_GET_CURRENT_SETTINGS

const uint8_t driver_svh::SVH_GET_CURRENT_SETTINGS

Initial value:

=

0x06

Requests the active settings of the current controller.

Definition at line 65 of file SVHSerialPacket.h.

◆ SVH_GET_ENCODER_VALUES

const uint8_t driver_svh::SVH_GET_ENCODER_VALUES = 0x0A

Request the current encoder scalings.

Definition at line 72 of file SVHSerialPacket.h.

◆ SVH_GET_FIRMWARE_INFO

const uint8_t driver_svh::SVH_GET_FIRMWARE_INFO = 0x0C

Request the firmware info to be transmitted.

Definition at line 74 of file SVHSerialPacket.h.

◆ SVH_GET_POSITION_SETTINGS

const uint8_t driver_svh::SVH_GET_POSITION_SETTINGS

Initial value:

=

0x04

Requests the active settings of the position controller.

Definition at line 62 of file SVHSerialPacket.h.

◆ SVH_SET_CONTROL_COMMAND

const uint8_t driver_svh::SVH_SET_CONTROL_COMMAND = 0x01

Sets the target position of a channel.

Definition at line 58 of file SVHSerialPacket.h.

◆ SVH_SET_CONTROL_COMMAND_ALL

const uint8_t driver_svh::SVH_SET_CONTROL_COMMAND_ALL = 0x03

Sends the target position to ALL the channels.

Definition at line 61 of file SVHSerialPacket.h.

◆ SVH_SET_CONTROLLER_STATE

const uint8_t driver_svh::SVH_SET_CONTROLLER_STATE

Initial value:

=

0x09

Sets new controller states (enable channels, clear faults)

Definition at line 70 of file SVHSerialPacket.h.

◆ SVH_SET_CURRENT_SETTINGS

const uint8_t driver_svh::SVH_SET_CURRENT_SETTINGS = 0x07

Sets new settings for the current controller.

Definition at line 67 of file SVHSerialPacket.h.

◆ SVH_SET_ENCODER_VALUES

const uint8_t driver_svh::SVH_SET_ENCODER_VALUES = 0x0B

Set new encoder scalings.

Definition at line 73 of file SVHSerialPacket.h.

◆ SVH_SET_POSITION_SETTINGS

const uint8_t driver_svh::SVH_SET_POSITION_SETTINGS = 0x05

Sets new settings for the position controller.

Definition at line 64 of file SVHSerialPacket.h.

Namespaces

Classes

Typedefs

Enumerations

Functions

Variables

Typedef Documentation

◆ ReceivedPacketCallback

Enumeration Type Documentation

◆ LogLevel

◆ SVHChannel

Function Documentation

◆ fromLittleEndian()

◆ fromLittleEndian< double >()

◆ fromLittleEndian< float >()

◆ logLevelToString()

◆ operator<<() [1/22]

◆ operator<<() [2/22]

◆ operator<<() [3/22]

◆ operator<<() [4/22]

◆ operator<<() [5/22]

◆ operator<<() [6/22]

◆ operator<<() [7/22]

◆ operator<<() [8/22]

◆ operator<<() [9/22]

◆ operator<<() [10/22]

◆ operator<<() [11/22]

◆ operator<<() [12/22]

◆ operator<<() [13/22]

◆ operator<<() [14/22]

◆ operator<<() [15/22]

◆ operator<<() [16/22]

◆ operator<<() [17/22]

◆ operator<<() [18/22]

◆ operator<<() [19/22]

◆ operator<<() [20/22]

◆ operator<<() [21/22]

◆ operator<<() [22/22]

◆ operator>>() [1/10]

◆ operator>>() [2/10]

◆ operator>>() [3/10]

◆ operator>>() [4/10]

◆ operator>>() [5/10]

◆ operator>>() [6/10]

◆ operator>>() [7/10]

◆ operator>>() [8/10]

◆ operator>>() [9/10]

◆ operator>>() [10/10]

◆ toLittleEndian()

◆ toLittleEndian< double >()

◆ toLittleEndian< float >()

Variable Documentation

◆ C_DEFAULT_PACKET_SIZE

◆ C_PACKET_APPENDIX_SIZE

◆ PACKET_HEADER1

◆ PACKET_HEADER2

◆ SVH_GET_CONTROL_FEEDBACK

◆ SVH_GET_CONTROL_FEEDBACK_ALL

◆ SVH_GET_CONTROLLER_STATE

◆ SVH_GET_CURRENT_SETTINGS

◆ SVH_GET_ENCODER_VALUES

◆ SVH_GET_FIRMWARE_INFO

◆ SVH_GET_POSITION_SETTINGS

◆ SVH_SET_CONTROL_COMMAND

◆ SVH_SET_CONTROL_COMMAND_ALL

◆ SVH_SET_CONTROLLER_STATE

◆ SVH_SET_CURRENT_SETTINGS

◆ SVH_SET_ENCODER_VALUES

◆ SVH_SET_POSITION_SETTINGS