Struct MsgUlcCmd

Defined in File dispatch.hpp

Struct Documentation

struct MsgUlcCmd

Public Types

enum class CmdType : uint8_t

Values:

enumerator None

enumerator Velocity

enumerator Accel

enum class CoastDecel : uint8_t

Values:

enumerator UseBrakes

enumerator NoBrakes

Public Functions

inline void reset()

inline void setCmdVelocityMps(float velocity_m_s)

inline void setCmdAccelMps(float accel_m_s)

inline float cmdVelocityMps() const

inline float cmdAccelMps() const

inline void setCrc()

inline bool validCrc() const

inline bool validRc(uint8_t rc) const

Public Members

int16_t cmd

CmdType cmd_type

uint8_t __pad0__

uint8_t enable

uint8_t clear

uint8_t __pad1__

uint8_t enable_shift

uint8_t enable_shift_park

CoastDecel coast_decel

uint8_t __pad2__

uint8_t __pad3__

uint8_t __pad4__

uint8_t __pad5__

uint8_t rc

uint8_t crc

Public Static Attributes

static constexpr uint32_t ID = 0x284

static constexpr size_t PERIOD_MS = 20

static constexpr size_t TIMEOUT_MS = 100