Struct ControlTable

• Defined in File opencr_control_table.hpp

Struct Documentation

struct ControlTable

Public Members

ControlItem model_information = {0, 2}

ControlItem millis = {10, 4}

ControlItem connect_ROS2 = {15, 1}

ControlItem connect_manipulator = {16, 1}

ControlItem device_status = {18, 1}

ControlItem heartbeat = {19, 1}

ControlItem led_1 = {20, 1}

ControlItem led_2 = {21, 1}

ControlItem led_3 = {22, 1}

ControlItem led_4 = {23, 1}

ControlItem button_1 = {26, 1}

ControlItem button_2 = {27, 1}

ControlItem bumper_1 = {28, 1}

ControlItem bumper_2 = {29, 1}

ControlItem illumination = {30, 4}

ControlItem ir = {34, 4}

ControlItem sonar = {38, 4}

ControlItem battery_voltage = {42, 4}

ControlItem battery_percentage = {46, 4}

ControlItem sound = {50, 1}

ControlItem imu_re_calibration = {59, 1}

ControlItem imu_angular_velocity_x = {60, 4}

ControlItem imu_angular_velocity_y = {64, 4}

ControlItem imu_angular_velocity_z = {68, 4}

ControlItem imu_linear_acceleration_x = {72, 4}

ControlItem imu_linear_acceleration_y = {76, 4}

ControlItem imu_linear_acceleration_z = {80, 4}

ControlItem imu_magnetic_x = {84, 4}

ControlItem imu_magnetic_y = {88, 4}

ControlItem imu_magnetic_z = {92, 4}

ControlItem imu_orientation_w = {96, 4}

ControlItem imu_orientation_x = {100, 4}

ControlItem imu_orientation_y = {104, 4}

ControlItem imu_orientation_z = {108, 4}

ControlItem present_current_left = {120, 4}

ControlItem present_current_right = {124, 4}

ControlItem present_velocity_left = {128, 4}

ControlItem present_velocity_right = {132, 4}

ControlItem present_position_left = {136, 4}

ControlItem present_position_right = {140, 4}

ControlItem connect_wheels = {148, 1}

ControlItem torque_wheels = {149, 1}

ControlItem cmd_velocity_linear_x = {150, 4}

ControlItem cmd_velocity_linear_y = {154, 4}

ControlItem cmd_velocity_linear_z = {158, 4}

ControlItem cmd_velocity_angular_x = {162, 4}

ControlItem cmd_velocity_angular_y = {166, 4}

ControlItem cmd_velocity_angular_z = {170, 4}

ControlItem profile_acceleration_left = {174, 4}

ControlItem profile_acceleration_right = {178, 4}

ControlItem torque_joints = {199, 1}

ControlItem goal_position_joint_1 = {200, 4}

ControlItem goal_position_joint_2 = {204, 4}

ControlItem goal_position_joint_3 = {208, 4}

ControlItem goal_position_joint_4 = {212, 4}

ControlItem goal_position_gripper = {216, 4}

ControlItem goal_position_write_joints = {220, 1}

ControlItem goal_position_write_gripper = {221, 1}

ControlItem present_position_joint_1 = {224, 4}

ControlItem present_position_joint_2 = {228, 4}

ControlItem present_position_joint_3 = {232, 4}

ControlItem present_position_joint_4 = {236, 4}

ControlItem present_position_gripper = {240, 4}

ControlItem present_velocity_joint_1 = {244, 4}

ControlItem present_velocity_joint_2 = {248, 4}

ControlItem present_velocity_joint_3 = {252, 4}

ControlItem present_velocity_joint_4 = {256, 4}

ControlItem present_velocity_gripper = {260, 4}

ControlItem present_current_joint_1 = {264, 2}

ControlItem present_current_joint_2 = {266, 2}

ControlItem present_current_joint_3 = {268, 2}

ControlItem present_current_joint_4 = {270, 2}

ControlItem present_current_gripper = {272, 2}

ControlItem profile_acceleration_joint_1 = {284, 4}

ControlItem profile_acceleration_joint_2 = {288, 4}

ControlItem profile_acceleration_joint_3 = {292, 4}

ControlItem profile_acceleration_joint_4 = {296, 4}

ControlItem profile_acceleration_gripper = {300, 4}

ControlItem profile_acceleration_write_joints = {304, 1}

ControlItem profile_acceleration_write_gripper = {305, 1}

ControlItem profile_velocity_joint_1 = {308, 4}

ControlItem profile_velocity_joint_2 = {312, 4}

ControlItem profile_velocity_joint_3 = {316, 4}

ControlItem profile_velocity_joint_4 = {320, 4}

ControlItem profile_velocity_gripper = {324, 4}

ControlItem profile_velocity_write_joints = {328, 1}

ControlItem profile_velocity_write_gripper = {329, 1}

ControlItem goal_current_joint_1 = {332, 2}

ControlItem goal_current_joint_2 = {334, 2}

ControlItem goal_current_joint_3 = {336, 2}

ControlItem goal_current_joint_4 = {338, 2}

ControlItem goal_current_gripper = {340, 2}

ControlItem goal_current_write_joints = {342, 1}

ControlItem goal_current_write_gripper = {343, 1}