79 #ifndef DOXYGEN_OMIT_INTERNAL 80 FloatField(HebiCommandRef&
internal, HebiCommandFloatField field);
81 #endif // DOXYGEN_OMIT_INTERNAL 82 explicit operator bool()
const {
return has(); }
101 void set(
float value);
107 HebiCommandRef& internal_;
108 HebiCommandFloatField
const field_;
118 #ifndef DOXYGEN_OMIT_INTERNAL 120 #endif // DOXYGEN_OMIT_INTERNAL 121 explicit operator bool()
const {
return has(); }
153 void get(int64_t* revolutions,
float* radian_offset)
const;
158 void set(
double radians);
165 void set(int64_t revolutions,
float radian_offset);
171 HebiCommandRef& internal_;
172 HebiCommandHighResAngleField
const field_;
179 #ifndef DOXYGEN_OMIT_INTERNAL 181 #endif // DOXYGEN_OMIT_INTERNAL 182 bool has(
size_t fieldNumber)
const;
193 float get(
size_t fieldNumber)
const;
199 void set(
size_t fieldNumber,
float value);
205 void clear(
size_t fieldNumber);
209 HebiCommandRef& internal_;
210 HebiCommandNumberedFloatField
const field_;
216 #ifndef DOXYGEN_OMIT_INTERNAL 217 IpAddressField(HebiCommandRef&
internal, HebiCommandUInt64Field field);
218 #endif // DOXYGEN_OMIT_INTERNAL 219 explicit operator bool()
const {
return has(); }
244 HebiCommandRef& internal_;
245 HebiCommandUInt64Field
const field_;
251 #ifndef DOXYGEN_OMIT_INTERNAL 252 BoolField(HebiCommandRef&
internal, HebiCommandBoolField field);
253 #endif // DOXYGEN_OMIT_INTERNAL 260 void set(
bool value);
266 HebiCommandRef& internal_;
267 HebiCommandBoolField
const field_;
273 #ifndef DOXYGEN_OMIT_INTERNAL 274 StringField(HebiCommandPtr
internal, HebiCommandStringField field);
275 #endif // DOXYGEN_OMIT_INTERNAL 276 explicit operator bool()
const {
return has(); }
293 std::string
get()
const;
295 void set(
const std::string& value);
301 HebiCommandPtr
const internal_;
302 HebiCommandStringField
const field_;
308 #ifndef DOXYGEN_OMIT_INTERNAL 309 FlagField(HebiCommandRef&
internal, HebiCommandFlagField field);
310 #endif // DOXYGEN_OMIT_INTERNAL 311 explicit operator bool()
const {
return has(); }
333 HebiCommandRef& internal_;
334 HebiCommandFlagField
const field_;
341 #ifndef DOXYGEN_OMIT_INTERNAL 342 EnumField(HebiCommandRef&
internal, HebiCommandEnumField field) : internal_(
internal), field_(field) {}
343 #endif // DOXYGEN_OMIT_INTERNAL 344 explicit operator bool()
const {
return has(); }
359 return enumGetter(internal_, field_,
nullptr) == HebiStatusSuccess;
366 return static_cast<T>(ret);
370 int32_t value = static_cast<int32_t>(_value);
380 HebiCommandRef& internal_;
381 HebiCommandEnumField
const field_;
387 #ifndef DOXYGEN_OMIT_INTERNAL 388 IoBank(HebiCommandPtr
internal, HebiCommandRef& internal_ref, HebiCommandIoPinBank bank);
389 #endif // DOXYGEN_OMIT_INTERNAL 390 bool hasInt(
size_t pinNumber)
const;
401 bool hasFloat(
size_t pinNumber)
const;
407 int64_t
getInt(
size_t pinNumber)
const;
414 float getFloat(
size_t pinNumber)
const;
420 void setInt(
size_t pinNumber, int64_t value);
426 void setFloat(
size_t pinNumber,
float value);
432 bool hasLabel(
size_t pinNumber)
const;
438 std::string
getLabel(
size_t pinNumber)
const;
443 void setLabel(
size_t pinNumber,
const std::string&);
448 void clear(
size_t pinNumber);
452 HebiCommandPtr internal_;
453 HebiCommandRef& internal_ref_;
454 HebiCommandIoPinBank
const bank_;
459 #ifndef DOXYGEN_OMIT_INTERNAL 460 LedField(HebiCommandRef&
internal, HebiCommandLedField field);
461 #endif // DOXYGEN_OMIT_INTERNAL 492 HebiCommandRef& internal_;
493 HebiCommandLedField
const field_;
499 #ifndef DOXYGEN_OMIT_INTERNAL 500 Io(HebiCommandPtr
internal, HebiCommandRef& internal_ref)
501 : a_(
internal, internal_ref, HebiCommandIoBankA),
502 b_(
internal, internal_ref, HebiCommandIoBankB),
503 c_(
internal, internal_ref, HebiCommandIoBankC),
504 d_(
internal, internal_ref, HebiCommandIoBankD),
505 e_(
internal, internal_ref, HebiCommandIoBankE),
506 f_(
internal, internal_ref, HebiCommandIoBankF) {}
507 #endif // DOXYGEN_OMIT_INTERNAL 557 #ifndef DOXYGEN_OMIT_INTERNAL 559 : position_gains_(
internal, HebiCommandFloatPositionKp, HebiCommandBoolPositionDOnError),
560 velocity_gains_(
internal, HebiCommandFloatVelocityKp, HebiCommandBoolVelocityDOnError),
561 effort_gains_(
internal, HebiCommandFloatEffortKp, HebiCommandBoolEffortDOnError),
562 spring_constant_(
internal, HebiCommandFloatSpringConstant),
563 reference_position_(
internal, HebiCommandFloatReferencePosition),
564 reference_effort_(
internal, HebiCommandFloatReferenceEffort),
565 velocity_limit_min_(
internal, HebiCommandFloatVelocityLimitMin),
566 velocity_limit_max_(
internal, HebiCommandFloatVelocityLimitMax),
567 effort_limit_min_(
internal, HebiCommandFloatEffortLimitMin),
568 effort_limit_max_(
internal, HebiCommandFloatEffortLimitMax),
569 position_limit_min_(
internal, HebiCommandHighResAnglePositionLimitMin),
570 position_limit_max_(
internal, HebiCommandHighResAnglePositionLimitMax),
571 control_strategy_(
internal, HebiCommandEnumControlStrategy),
572 mstop_strategy_(
internal, HebiCommandEnumMstopStrategy),
573 min_position_limit_strategy_(
internal, HebiCommandEnumMinPositionLimitStrategy),
574 max_position_limit_strategy_(
internal, HebiCommandEnumMaxPositionLimitStrategy) {}
575 #endif // DOXYGEN_OMIT_INTERNAL 676 #ifndef DOXYGEN_OMIT_INTERNAL 677 Imu(HebiCommandRef&
internal)
678 : accel_includes_gravity_(
internal, HebiCommandBoolAccelIncludesGravity) {}
679 #endif // DOXYGEN_OMIT_INTERNAL 697 #ifndef DOXYGEN_OMIT_INTERNAL 698 Settings(HebiCommandPtr internal_ptr, HebiCommandRef&
internal)
699 : actuator_(internal),
701 name_(internal_ptr, HebiCommandStringName),
702 family_(internal_ptr, HebiCommandStringFamily),
703 user_settings_bytes_1_(internal_ptr, HebiCommandStringUserSettingsBytes1),
704 user_settings_bytes_2_(internal_ptr, HebiCommandStringUserSettingsBytes2),
705 user_settings_bytes_3_(internal_ptr, HebiCommandStringUserSettingsBytes3),
706 user_settings_bytes_4_(internal_ptr, HebiCommandStringUserSettingsBytes4),
707 user_settings_bytes_5_(internal_ptr, HebiCommandStringUserSettingsBytes5),
708 user_settings_bytes_6_(internal_ptr, HebiCommandStringUserSettingsBytes6),
709 user_settings_bytes_7_(internal_ptr, HebiCommandStringUserSettingsBytes7),
710 user_settings_bytes_8_(internal_ptr, HebiCommandStringUserSettingsBytes8),
711 user_settings_float_1_(internal, HebiCommandFloatUserSettingsFloat1),
712 user_settings_float_2_(internal, HebiCommandFloatUserSettingsFloat2),
713 user_settings_float_3_(internal, HebiCommandFloatUserSettingsFloat3),
714 user_settings_float_4_(internal, HebiCommandFloatUserSettingsFloat4),
715 user_settings_float_5_(internal, HebiCommandFloatUserSettingsFloat5),
716 user_settings_float_6_(internal, HebiCommandFloatUserSettingsFloat6),
717 user_settings_float_7_(internal, HebiCommandFloatUserSettingsFloat7),
718 user_settings_float_8_(internal, HebiCommandFloatUserSettingsFloat8),
719 ip_address_(internal, HebiCommandUInt64IpAddress),
720 subnet_mask_(internal, HebiCommandUInt64SubnetMask),
721 save_current_settings_(internal, HebiCommandFlagSaveCurrentSettings) {}
722 #endif // DOXYGEN_OMIT_INTERNAL 757 case 1:
return user_settings_bytes_1_;
758 case 2:
return user_settings_bytes_2_;
759 case 3:
return user_settings_bytes_3_;
760 case 4:
return user_settings_bytes_4_;
761 case 5:
return user_settings_bytes_5_;
762 case 6:
return user_settings_bytes_6_;
763 case 7:
return user_settings_bytes_7_;
764 case 8:
return user_settings_bytes_8_;
766 throw std::out_of_range(
"Invalid option for bytes array user setting entry!");
773 case 1:
return user_settings_bytes_1_;
774 case 2:
return user_settings_bytes_2_;
775 case 3:
return user_settings_bytes_3_;
776 case 4:
return user_settings_bytes_4_;
777 case 5:
return user_settings_bytes_5_;
778 case 6:
return user_settings_bytes_6_;
779 case 7:
return user_settings_bytes_7_;
780 case 8:
return user_settings_bytes_8_;
782 throw std::out_of_range(
"Invalid option for bytes array user setting entry!");
789 case 1:
return user_settings_float_1_;
790 case 2:
return user_settings_float_2_;
791 case 3:
return user_settings_float_3_;
792 case 4:
return user_settings_float_4_;
793 case 5:
return user_settings_float_5_;
794 case 6:
return user_settings_float_6_;
795 case 7:
return user_settings_float_7_;
796 case 8:
return user_settings_float_8_;
798 throw std::out_of_range(
"Invalid option for float user setting entry!");
805 case 1:
return user_settings_float_1_;
806 case 2:
return user_settings_float_2_;
807 case 3:
return user_settings_float_3_;
808 case 4:
return user_settings_float_4_;
809 case 5:
return user_settings_float_5_;
810 case 6:
return user_settings_float_6_;
811 case 7:
return user_settings_float_7_;
812 case 8:
return user_settings_float_8_;
814 throw std::out_of_range(
"Invalid option for float user setting entry!");
863 #ifndef DOXYGEN_OMIT_INTERNAL 865 : velocity_(
internal, HebiCommandFloatVelocity),
866 effort_(
internal, HebiCommandFloatEffort),
867 position_(
internal, HebiCommandHighResAnglePosition) {}
868 #endif // DOXYGEN_OMIT_INTERNAL 900 HebiCommandPtr internal_;
901 HebiCommandRef internal_ref_;
904 #ifndef DOXYGEN_OMIT_INTERNAL 910 #endif // DOXYGEN_OMIT_INTERNAL 924 const Io&
io()
const {
return io_; }
936 #ifndef DOXYGEN_OMIT_INTERNAL 937 NumberedFloatField& debug() {
return debug_; }
940 const NumberedFloatField& debug()
const {
return debug_; }
941 #endif // DOXYGEN_OMIT_INTERNAL 942 StringField&
appendLog() {
return append_log_; }
980 NumberedFloatField debug_;
981 StringField append_log_;
984 FlagField stop_boot_;
985 FlagField clear_log_;
const FloatField & referencePosition() const
Definition: command.hpp:606
void clear()
Removes any currently set value for this field.
Definition: command.cpp:130
void set(const Color &color)
Commands a color that overrides the module's control of the LED (if the alpha channel is 255),...
Definition: command.cpp:242
bool has() const
True if (and only if) the field has a value.
Definition: command.hpp:358
void clear()
Removes any currently set value for this field.
Definition: command.cpp:67
const IoBank & a() const
I/O pin bank a (pins 1-8 available)
Definition: command.hpp:517
IoBank & f()
I/O pin bank f (pins 1-8 available)
Definition: command.hpp:535
IpAddress get() const
If the field has a value, returns that value; otherwise, returns 0.0.0.0.
Definition: command.cpp:99
FlagField & reset()
Restart the module.
Definition: command.hpp:947
FlagField & saveCurrentSettings()
Indicates if the module should save the current values of all of its settings.
Definition: command.hpp:827
IoBank & d()
I/O pin bank d (pins 1-8 available)
Definition: command.hpp:527
const EnumField< PositionLimitStrategy > & minPositionLimitStrategy() const
The position limit strategy (at the minimum position) for the actuator.
Definition: command.hpp:646
MstopStrategy
Definition: command.hpp:55
const FloatField & effortLimitMin() const
The firmware safety limit for the minimum allowed effort.
Definition: command.hpp:622
void clear()
Removes any currently set value for this field.
Definition: command.cpp:112
const FloatField & velocityLimitMin() const
The firmware safety limit for the minimum allowed velocity.
Definition: command.hpp:614
HighResAngleField & positionLimitMax()
The firmware safety limit for the maximum allowed position.
Definition: command.hpp:632
#define HEBI_DISABLE_COPY(Class)
Definition: util.hpp:16
void clear()
Removes any currently set value for this field.
Definition: command.cpp:27
std::string getLabel(size_t pinNumber) const
If this numbered pin in this bank has a string label value, returns that value; otherwise returns an ...
Definition: command.cpp:202
A message field representable by a bool value.
Definition: command.hpp:249
Actuator & actuator()
Actuator-specific commands.
Definition: command.hpp:930
Actuator-specific commands.
Definition: command.hpp:861
void hebiCommandSetEnum(HebiCommandRef &command, HebiCommandEnumField field, const int32_t *value)
Definition: message_helpers.cpp:390
Io & io()
Any available digital or analog output pins on the device.
Definition: command.hpp:922
const FloatField & effort() const
Effort at the module output; units vary (e.g., N * m for rotational joints and N for linear stages).
Definition: command.hpp:882
Triggering the M-Stop results in the control strategy being set to 'off'. Remains 'off' until changed...
Settings & settings()
Module settings that are typically changed at a slower rate.
Definition: command.hpp:926
StringField & userSettingsBytes(size_t number)
Definition: command.hpp:754
const Io & io() const
Any available digital or analog output pins on the device.
Definition: command.hpp:924
FloatField & springConstant()
The spring constant of the module.
Definition: command.hpp:598
bool get() const
If the field has a value, returns that value; otherwise, returns false.
Definition: command.cpp:119
FloatField & effortLimitMin()
The firmware safety limit for the minimum allowed effort.
Definition: command.hpp:620
bool has() const
True if (and only if) the field has a value.
Definition: command.cpp:117
A message field for interfacing with a bank of I/O pins.
Definition: command.hpp:385
Triggering the M-Stop results in the motor holding the motor position. Operations resume to normal on...
FlagField & boot()
Boot the module from bootloader into application.
Definition: command.hpp:951
Actuator & actuator()
Actuator-specific settings, such as controller gains.
Definition: command.hpp:730
const HighResAngleField & position() const
Position of the module output (post-spring), in radians.
Definition: command.hpp:886
const IoBank & d() const
I/O pin bank d (pins 1-8 available)
Definition: command.hpp:529
void setInt(size_t pinNumber, int64_t value)
Sets the particular pin to a integer value (representing a digital output).
Definition: command.cpp:190
StringField & family()
Definition: command.hpp:748
Command objects have various fields that can be set; when sent to the module, these fields control in...
Definition: command.hpp:34
const BoolField & accelIncludesGravity() const
Whether to include acceleration due to gravity in acceleration feedback.
Definition: command.hpp:689
IoBank & a()
I/O pin bank a (pins 1-8 available)
Definition: command.hpp:515
A message field representable by a std::string.
Definition: command.hpp:271
BoolField & accelIncludesGravity()
Whether to include acceleration due to gravity in acceleration feedback.
Definition: command.hpp:687
FloatField & userSettingsFloat(size_t number)
Definition: command.hpp:786
bool hasLabel(size_t pinNumber) const
True if (and only if) the particular numbered pin in this bank has a string label set in this message...
Definition: command.cpp:198
void clear(size_t fieldNumber)
Removes any currently set value for the numbered subvalue of this field.
Definition: command.cpp:88
void set(size_t fieldNumber, float value)
Sets the particular numbered subvalue of this field to a given value.
Definition: command.cpp:84
std::string get() const
If the field has a value, returns a copy of that value; otherwise, returns a default.
Definition: command.cpp:139
IpAddressField & subnetMask()
Sets the subnet mask for this module; must be used with IP Address if setting a static IP address.
Definition: command.hpp:823
void set()
Sets this flag.
Definition: command.cpp:164
A message field for interfacing with an LED.
Definition: command.hpp:457
const FlagField & clearLog() const
Clears the log message on the module.
Definition: command.hpp:961
Exceeding the position limit results in the actuator holding the position. Needs to be manually set t...
const FloatField & effortLimitMax() const
The firmware safety limit for the maximum allowed effort.
Definition: command.hpp:626
The motor is not given power (equivalent to a 0 PWM value)
const IpAddressField & subnetMask() const
Sets the subnet mask for this module; must be used with IP Address if setting a static IP address.
Definition: command.hpp:825
const StringField & name() const
Definition: command.hpp:745
CommandGains & effortGains()
Controller gains for the effort PID loop.
Definition: command.hpp:591
#define HEBI_DISABLE_COPY_MOVE(Class)
Definition: util.hpp:6
const FlagField & reset() const
Restart the module.
Definition: command.hpp:949
const IoBank & c() const
I/O pin bank c (pins 1-8 available)
Definition: command.hpp:525
IoBank & c()
I/O pin bank c (pins 1-8 available)
Definition: command.hpp:523
const CommandGains & effortGains() const
Controller gains for the effort PID loop.
Definition: command.hpp:593
HighResAngleField & position()
Position of the module output (post-spring), in radians.
Definition: command.hpp:884
const FloatField & springConstant() const
The spring constant of the module.
Definition: command.hpp:600
Exceeding the position limit results in the control strategy being set to 'off'. Remains 'off' until ...
const EnumField< ControlStrategy > & controlStrategy() const
How the position, velocity, and effort PID loops are connected in order to control motor PWM.
Definition: command.hpp:638
CommandGains & velocityGains()
Controller gains for the velocity PID loop.
Definition: command.hpp:587
const IoBank & b() const
I/O pin bank b (pins 1-8 available)
Definition: command.hpp:521
Actuator-specific settings, such as controller gains.
Definition: command.hpp:555
Module settings that are typically changed at a slower rate.
Definition: command.hpp:552
const CommandGains & positionGains() const
Controller gains for the position PID loop.
Definition: command.hpp:585
FloatField & referencePosition()
Definition: command.hpp:603
bool has() const
True if (and only if) the field has a value.
Definition: command.cpp:32
const Settings & settings() const
Module settings that are typically changed at a slower rate.
Definition: command.hpp:928
A two-state message field (either set/true or cleared/false).
Definition: command.hpp:306
void set(T _value)
Sets the field to a given value.
Definition: command.hpp:369
bool has() const
Returns true if the flag is set, false if it is cleared.
Definition: command.cpp:162
StringField & appendLog()
Appends to the current log message on the module.
Definition: command.hpp:943
const Actuator & actuator() const
Actuator-specific settings, such as controller gains.
Definition: command.hpp:732
IoBank & b()
I/O pin bank b (pins 1-8 available)
Definition: command.hpp:519
const IoBank & e() const
I/O pin bank e (pins 1-8 available)
Definition: command.hpp:533
A message field containing a numbered set of single-precision floating point values.
Definition: command.hpp:177
Triggering the M-Stop has no effect.
HebiStatusCode enumGetter(const RefT &ref, MetadataT &metadata, int field, int32_t *value)
Definition: message_helpers.cpp:300
const FloatField & userSettingsFloat(size_t number) const
Definition: command.hpp:802
const StringField & family() const
Definition: command.hpp:751
Color get() const
Returns the current LED command.
Definition: command.cpp:231
int64_t getInt(size_t pinNumber) const
If this numbered pin in this bank has an integer (e.g., digital) value, returns that value; otherwise...
Definition: command.cpp:178
double get() const
If the field has a value, returns that value as a double; otherwise, returns a default.
Definition: command.cpp:36
const FlagField & boot() const
Boot the module from bootloader into application.
Definition: command.hpp:953
FloatField & effortLimitMax()
The firmware safety limit for the maximum allowed effort.
Definition: command.hpp:624
EnumField< ControlStrategy > & controlStrategy()
How the position, velocity, and effort PID loops are connected in order to control motor PWM.
Definition: command.hpp:636
const LedField & led() const
The module's LED.
Definition: command.hpp:965
HighResAngleField & positionLimitMin()
The firmware safety limit for the minimum allowed position.
Definition: command.hpp:628
float getFloat(size_t pinNumber) const
If this numbered pin in this bank has an floating point (e.g., analog or PWM) value,...
Definition: command.cpp:184
FloatField & velocity()
Velocity of the module output (post-spring), in radians/second.
Definition: command.hpp:876
Exceeding the position limit results in a virtual spring that pushes the actuator back to within the ...
const IpAddressField & ipAddress() const
Definition: command.hpp:821
Any available digital or analog output pins on the device.
Definition: command.hpp:497
const HighResAngleField & positionLimitMin() const
The firmware safety limit for the minimum allowed position.
Definition: command.hpp:630
float get() const
If the field has a value, returns that value; otherwise, returns a default.
Definition: command.cpp:17
FloatField & referenceEffort()
The internal effort reference offset (setting this matches the current effort to the given reference ...
Definition: command.hpp:608
ControlStrategy
Definition: command.hpp:36
const EnumField< PositionLimitStrategy > & maxPositionLimitStrategy() const
The position limit strategy (at the maximum position) for the actuator.
Definition: command.hpp:650
A simple wrapper class for IpAddress objects.
Definition: ip_address.hpp:36
const HighResAngleField & positionLimitMax() const
The firmware safety limit for the maximum allowed position.
Definition: command.hpp:634
const Imu & imu() const
IMU-specific settings.
Definition: command.hpp:736
const FloatField & referenceEffort() const
The internal effort reference offset (setting this matches the current effort to the given reference ...
Definition: command.hpp:610
const FlagField & saveCurrentSettings() const
Indicates if the module should save the current values of all of its settings.
Definition: command.hpp:829
void clear()
Removes any currently set value for this field.
Definition: command.hpp:374
IoBank & e()
I/O pin bank e (pins 1-8 available)
Definition: command.hpp:531
FlagField & clearLog()
Clears the log message on the module.
Definition: command.hpp:959
EnumField< PositionLimitStrategy > & maxPositionLimitStrategy()
The position limit strategy (at the maximum position) for the actuator.
Definition: command.hpp:648
const EnumField< MstopStrategy > & mstopStrategy() const
The motion stop strategy for the actuator.
Definition: command.hpp:642
T get() const
If the field has a value, returns that value; otherwise, returns a default.
Definition: command.hpp:363
void clear()
Removes any currently set value for this field, so that the module maintains its previous state of LE...
Definition: command.cpp:246
Command(Command &&other)
Move constructor (necessary for containment in STL template classes)
Definition: command.cpp:250
A message field for an angle measurement which does not lose precision at very high angles.
Definition: command.hpp:116
void set(double radians)
Sets the field to a given double value (in radians). Note that double precision floating point number...
Definition: command.cpp:52
Imu & imu()
IMU-specific settings.
Definition: command.hpp:734
const FlagField & stopBoot() const
Stop the module from automatically booting into application.
Definition: command.hpp:957
void clear()
Removes any currently set value for this field.
Definition: command.cpp:157
EnumField< MstopStrategy > & mstopStrategy()
The motion stop strategy for the actuator.
Definition: command.hpp:640
void set(float value)
Sets the field to a given value.
Definition: command.cpp:25
bool has() const
True if (and only if) the field has a value.
Definition: command.cpp:135
void set(bool value)
Sets the field to a given value.
Definition: command.cpp:125
bool has() const
True if (and only if) the field has a value.
Definition: command.cpp:95
const FloatField & velocity() const
Velocity of the module output (post-spring), in radians/second.
Definition: command.hpp:878
const Actuator & actuator() const
Actuator-specific commands.
Definition: command.hpp:932
float get(size_t fieldNumber) const
If the particular numbered subvalue of this field has a value, returns that value; otherwise returns ...
Definition: command.cpp:76
FloatField & velocityLimitMax()
The firmware safety limit for the maximum allowed velocity.
Definition: command.hpp:616
const StringField & appendLog() const
Appends to the current log message on the module.
Definition: command.hpp:945
const FloatField & velocityLimitMax() const
The firmware safety limit for the maximum allowed velocity.
Definition: command.hpp:618
IMU-specific settings.
Definition: command.hpp:674
StringField & name()
Definition: command.hpp:742
LedField & led()
The module's LED.
Definition: command.hpp:963
void setFloat(size_t pinNumber, float value)
Sets the particular pin to a floating point value (representing a PWM output).
Definition: command.cpp:194
void setLabel(size_t pinNumber, const std::string &)
Sets the string label for a particular pin.
Definition: command.cpp:214
Exceeding the position limit has no effect.
bool has() const
Returns true if the LED command has been set, and false otherwise.
Definition: command.cpp:227
void set(const IpAddress &value)
Sets the field to a given value.
Definition: command.cpp:107
bool hasFloat(size_t pinNumber) const
True if (and only if) the particular numbered pin in this bank has an floating point (e....
Definition: command.cpp:174
const CommandGains & velocityGains() const
Controller gains for the velocity PID loop.
Definition: command.hpp:589
bool hasInt(size_t pinNumber) const
True if (and only if) the particular numbered pin in this bank has an integer (e.g....
Definition: command.cpp:170
const IoBank & f() const
I/O pin bank f (pins 1-8 available)
Definition: command.hpp:537
A direct PWM value (-1 to 1) can be sent to the motor (subject to onboard safety limiting).
Structure to describe an RGB color.
Definition: color.hpp:8
CommandGains & positionGains()
Controller gains for the position PID loop.
Definition: command.hpp:583
A message field representable by an unsigned 64 bit integer value.
Definition: command.hpp:214
A message field representable by a single-precision floating point value.
Definition: command.hpp:77
bool has(size_t fieldNumber) const
True if (and only if) the particular numbered subvalue of this field has a value.
Definition: command.cpp:72
void clear()
Clears this flag (e.g., sets it to false/off).
Definition: command.cpp:166
Command & operator=(Command &&other)=delete
PositionLimitStrategy
Definition: command.hpp:64
const StringField & userSettingsBytes(size_t number) const
Definition: command.hpp:770
bool has() const
True if (and only if) the field has a value.
Definition: command.cpp:15
FloatField & velocityLimitMin()
The firmware safety limit for the minimum allowed velocity.
Definition: command.hpp:612
void clear(size_t pinNumber)
Removes any currently set value for this pin.
Definition: command.cpp:220
void set(const std::string &value)
Sets the field to a given value.
Definition: command.cpp:151
IpAddressField & ipAddress()
Definition: command.hpp:818
EnumField< PositionLimitStrategy > & minPositionLimitStrategy()
The position limit strategy (at the minimum position) for the actuator.
Definition: command.hpp:644
FlagField & stopBoot()
Stop the module from automatically booting into application.
Definition: command.hpp:955
A message field representable by an enum of a given type.
Definition: command.hpp:339
FloatField & effort()
Effort at the module output; units vary (e.g., N * m for rotational joints and N for linear stages).
Definition: command.hpp:880