hebi::Info Class Reference

Info objects have various fields representing the module state; which fields are populated depends on the module type and various other settings. More...

#include <info.hpp>

Classes
class	Actuator
	Actuator-specific information. More...
class	BoolField
	A message field representable by a bool value. More...
class	EnumField
	A message field representable by an enum of a given type. More...
class	FlagField
	A two-state message field (either set/true or cleared/false). More...
class	FloatField
	A message field representable by a single-precision floating point value. More...
class	HighResAngleField
	A message field for an angle measurement which does not lose precision at very high angles. More...
class	LedField
	A message field for interfacing with an LED. More...
class	Settings
	Module settings that are typically changed at a slower rate. More...
class	StringField
	A message field representable by a std::string. More...

Public Types
enum	ControlStrategy {   ControlStrategy::Off, ControlStrategy::DirectPWM, ControlStrategy::Strategy2, ControlStrategy::Strategy3,   ControlStrategy::Strategy4 }
enum	CalibrationState { CalibrationState::Normal, CalibrationState::UncalibratedCurrent, CalibrationState::UncalibratedPosition, CalibrationState::UncalibratedEffort }
enum	MstopStrategy { MstopStrategy::Disabled, MstopStrategy::MotorOff, MstopStrategy::HoldPosition }
enum	PositionLimitStrategy { PositionLimitStrategy::HoldPosition, PositionLimitStrategy::DampedSpring, PositionLimitStrategy::MotorOff, PositionLimitStrategy::Disabled }

Public Member Functions
	Info (Info &&other)
	Move constructor (necessary for containment in STL template classes) More...
const Settings &	settings () const
	Module settings that are typically changed at a slower rate. More...
const Actuator &	actuator () const
	Actuator-specific information. More...
const StringField &	serial () const
	Gets the serial number for this module (e.g., X5-0001). More...
const LedField &	led () const
	The module's LED. More...
Info &	operator= (Info &&other)=delete

Protected Types
using	InfoGains = Gains< HebiInfoRef, FloatField, BoolField, HebiInfoFloatField, HebiInfoBoolField >

Detailed Description

Info objects have various fields representing the module state; which fields are populated depends on the module type and various other settings.

This object has a hierarchical structure – there are some direct general-purpose fields at the top level, and many more specific fields contained in different nested subobjects.

The subobjects contain references to the parent info object, and so should not be used after the parent object has been destroyed.

The fields in the info object are typed; generally, these are optional-style read-only fields (i.e., have the concept of has/get), although the return types and exact interface vary slightly between fields. Where appropriate, the explicit bool operator has been overridden so that you can shortcut if(field.has()) by calling if(field).

Although this header file can be used to look at the hierarchy of the messages, in general the online documentation at apidocs.hebi.us presents this information. in a more readable form.

Member Typedef Documentation

InfoGains

using hebi::Info::InfoGains = Gains<HebiInfoRef, FloatField, BoolField, HebiInfoFloatField, HebiInfoBoolField>

protected

Member Enumeration Documentation

ControlStrategy

enum hebi::Info::ControlStrategy

strong

Enumerator
Off	The motor is not given power (equivalent to a 0 PWM value)
DirectPWM	A direct PWM value (-1 to 1) can be sent to the motor (subject to onboard safety limiting).
Strategy2	A combination of the position, velocity, and effort loops with P and V feeding to T; documented on docs.hebi.us under "Control Modes"
Strategy3	A combination of the position, velocity, and effort loops with P, V, and T feeding to PWM; documented on docs.hebi.us under "Control Modes"
Strategy4	A combination of the position, velocity, and effort loops with P feeding to T and V feeding to PWM; documented on docs.hebi.us under "Control Modes"

CalibrationState

enum hebi::Info::CalibrationState

strong

Enumerator
Normal	The module has been calibrated; this is the normal state.
UncalibratedCurrent	The current has not been calibrated.
UncalibratedPosition	The factory zero position has not been set.
UncalibratedEffort	The effort (e.g., spring nonlinearity) has not been calibrated.

MstopStrategy

enum hebi::Info::MstopStrategy

strong

Enumerator
Disabled	Triggering the M-Stop has no effect.
MotorOff	Triggering the M-Stop results in the control strategy being set to 'off'. Remains 'off' until changed by user.
HoldPosition	Triggering the M-Stop results in the motor holding the motor position. Operations resume to normal once trigger is released.

PositionLimitStrategy

enum hebi::Info::PositionLimitStrategy

strong

Enumerator
HoldPosition	Exceeding the position limit results in the actuator holding the position. Needs to be manually set to 'disabled' to recover.
DampedSpring	Exceeding the position limit results in a virtual spring that pushes the actuator back to within the limits.
MotorOff	Exceeding the position limit results in the control strategy being set to 'off'. Remains 'off' until changed by user.
Disabled	Exceeding the position limit has no effect.

Constructor & Destructor Documentation

Info()

hebi::Info::Info

(

Info &&

other

)

Move constructor (necessary for containment in STL template classes)

Member Function Documentation

settings()

const Settings& hebi::Info::settings ( ) const

inline

Module settings that are typically changed at a slower rate.

actuator()

const Actuator& hebi::Info::actuator ( ) const

inline

Actuator-specific information.

serial()

const StringField& hebi::Info::serial ( ) const

inline

Gets the serial number for this module (e.g., X5-0001).

led()

const LedField& hebi::Info::led ( ) const

inline

The module's LED.

operator=()

Info& hebi::Info::operator= ( Info &&  other )

delete

Disable copy constructor/assignment operators

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The documentation for this class was generated from the following files:

• info.hpp
• info.cpp