Command objects have various fields that can be set; when sent to the module, these fields control internal properties and setpoints. More...

#include <command.hpp>

Classes
class	Actuator
	Actuator-specific commands. 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	Io
	Any available digital or analog output pins on the device. More...

class	IoBank
	A message field for interfacing with a bank of I/O pins. More...

class	LedField
	A message field for interfacing with an LED. More...

class	NumberedFloatField
	A message field containing a numbered set of single-precision floating point values. 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	MstopStrategy { MstopStrategy::Disabled, MstopStrategy::MotorOff, MstopStrategy::HoldPosition }

enum	PositionLimitStrategy { PositionLimitStrategy::HoldPosition, PositionLimitStrategy::DampedSpring, PositionLimitStrategy::MotorOff, PositionLimitStrategy::Disabled }

Public Member Functions
	Command (Command &&other)
	Move constructor (necessary for containment in STL template classes) More...

Io &	io ()
	Any available digital or analog output pins on the device. More...

const Io &	io () const
	Any available digital or analog output pins on the device. More...

Settings &	settings ()
	Module settings that are typically changed at a slower rate. More...

const Settings &	settings () const
	Module settings that are typically changed at a slower rate. More...

Actuator &	actuator ()
	Actuator-specific commands. More...

const Actuator &	actuator () const
	Actuator-specific commands. More...

StringField &	appendLog ()
	Appends to the current log message on the module. More...

const StringField &	appendLog () const
	Appends to the current log message on the module. More...

FlagField &	reset ()
	Restart the module. More...

const FlagField &	reset () const
	Restart the module. More...

FlagField &	boot ()
	Boot the module from bootloader into application. More...

const FlagField &	boot () const
	Boot the module from bootloader into application. More...

FlagField &	stopBoot ()
	Stop the module from automatically booting into application. More...

const FlagField &	stopBoot () const
	Stop the module from automatically booting into application. More...

FlagField &	clearLog ()
	Clears the log message on the module. More...

const FlagField &	clearLog () const
	Clears the log message on the module. More...

LedField &	led ()
	The module's LED. More...

const LedField &	led () const
	The module's LED. More...

Command &	operator= (Command &&other)=delete

Protected Types
using	CommandGains = Gains< HebiCommandRef, FloatField, BoolField, HebiCommandFloatField, HebiCommandBoolField >

Detailed Description

Command objects have various fields that can be set; when sent to the module, these fields control internal properties and setpoints.

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 command object, and so should not be used after the parent object has been destroyed.

The fields in the command object are typed; generally, these are optional-style read/write fields (i.e., have the concept of get/set/has/clear), 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

◆ CommandGains

using hebi::Command::CommandGains = Gains<HebiCommandRef, FloatField, BoolField, HebiCommandFloatField, HebiCommandBoolField>

protected

Member Enumeration Documentation

◆ ControlStrategy

enum hebi::Command::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"

◆ MstopStrategy

enum hebi::Command::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::Command::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

◆ Command()

hebi::Command::Command ( Command && other )

Move constructor (necessary for containment in STL template classes)

Member Function Documentation

◆ io() [1/2]

Io& hebi::Command::io ( )

inline

Any available digital or analog output pins on the device.

◆ io() [2/2]

const Io& hebi::Command::io ( ) const

inline

Any available digital or analog output pins on the device.

◆ settings() [1/2]

Settings& hebi::Command::settings ( )

inline

Module settings that are typically changed at a slower rate.

◆ settings() [2/2]

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

inline

Module settings that are typically changed at a slower rate.

◆ actuator() [1/2]

Actuator& hebi::Command::actuator ( )

inline

Actuator-specific commands.

◆ actuator() [2/2]

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

inline

Actuator-specific commands.

◆ appendLog() [1/2]

StringField& hebi::Command::appendLog ( )

inline

Appends to the current log message on the module.

◆ appendLog() [2/2]

const StringField& hebi::Command::appendLog ( ) const

inline

Appends to the current log message on the module.

◆ reset() [1/2]

FlagField& hebi::Command::reset ( )

inline

Restart the module.

◆ reset() [2/2]

const FlagField& hebi::Command::reset ( ) const

inline

Restart the module.

◆ boot() [1/2]

FlagField& hebi::Command::boot ( )

inline

Boot the module from bootloader into application.

◆ boot() [2/2]

const FlagField& hebi::Command::boot ( ) const

inline

Boot the module from bootloader into application.

◆ stopBoot() [1/2]

FlagField& hebi::Command::stopBoot ( )

inline

Stop the module from automatically booting into application.

◆ stopBoot() [2/2]

const FlagField& hebi::Command::stopBoot ( ) const

inline

Stop the module from automatically booting into application.

◆ clearLog() [1/2]

FlagField& hebi::Command::clearLog ( )

inline

Clears the log message on the module.

◆ clearLog() [2/2]

const FlagField& hebi::Command::clearLog ( ) const

inline

Clears the log message on the module.

◆ led() [1/2]

LedField& hebi::Command::led ( )

inline

The module's LED.

◆ led() [2/2]

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

inline

The module's LED.

◆ operator=()

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

delete

Disable copy constructor/assignment operators

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

Classes

Public Types

Public Member Functions

Protected Types

Detailed Description

Member Typedef Documentation

◆ CommandGains

Member Enumeration Documentation

◆ ControlStrategy

◆ MstopStrategy

◆ PositionLimitStrategy

Constructor & Destructor Documentation

◆ Command()

Member Function Documentation

◆ io() [1/2]

◆ io() [2/2]

◆ settings() [1/2]

◆ settings() [2/2]

◆ actuator() [1/2]

◆ actuator() [2/2]

◆ appendLog() [1/2]

◆ appendLog() [2/2]

◆ reset() [1/2]

◆ reset() [2/2]

◆ boot() [1/2]

◆ boot() [2/2]

◆ stopBoot() [1/2]

◆ stopBoot() [2/2]

◆ clearLog() [1/2]

◆ clearLog() [2/2]

◆ led() [1/2]

◆ led() [2/2]

◆ operator=()