HEBI C++ API  3.9.0
feedback.hpp
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1 #pragma once
2 
3 #include "hebi.h"
4 
5 #include "color.hpp"
6 #include "quaternion_f.hpp"
7 #include "message_helpers.hpp"
8 #include "util.hpp"
9 #include "vector_3_f.hpp"
10 
11 namespace hebi {
12 
32 class Feedback final {
33 public:
34  enum class TemperatureState {
36  Normal,
38  Critical,
43  };
44 
45  enum class MstopState {
47  Triggered,
50  };
51 
52  enum class PositionLimitState {
55  Below,
57  AtLower,
59  Inside,
61  AtUpper,
64  Above,
67  };
68 
69  enum class VelocityLimitState {
72  Below,
74  AtLower,
76  Inside,
78  AtUpper,
81  Above,
84  };
85 
86  enum class EffortLimitState {
89  Below,
91  AtLower,
93  Inside,
95  AtUpper,
98  Above,
101  };
102 
103  enum class CommandLifetimeState {
105  Unlocked,
110  };
111 
112  enum class ArQuality {
128  };
129 
130 protected:
132  class FloatField final {
133  public:
134 #ifndef DOXYGEN_OMIT_INTERNAL
135  FloatField(const HebiFeedbackRef& internal, HebiFeedbackFloatField field);
136 #endif // DOXYGEN_OMIT_INTERNAL
137  explicit operator bool() const { return has(); }
151  bool has() const;
154  float get() const;
155 
157  private:
158  const HebiFeedbackRef& internal_;
159  HebiFeedbackFloatField const field_;
160  };
161 
167  class HighResAngleField final {
168  public:
169 #ifndef DOXYGEN_OMIT_INTERNAL
170  HighResAngleField(const HebiFeedbackRef& internal, HebiFeedbackHighResAngleField field);
171 #endif // DOXYGEN_OMIT_INTERNAL
172  explicit operator bool() const { return has(); }
186  bool has() const;
192  double get() const;
204  void get(int64_t* revolutions, float* radian_offset) const;
205 
207  private:
208  const HebiFeedbackRef& internal_;
209  HebiFeedbackHighResAngleField const field_;
210  };
211 
214  class NumberedFloatField final {
215  public:
216 #ifndef DOXYGEN_OMIT_INTERNAL
217  NumberedFloatField(const HebiFeedbackRef& internal, HebiFeedbackNumberedFloatField field);
218 #endif // DOXYGEN_OMIT_INTERNAL
219  bool has(size_t fieldNumber) const;
230  float get(size_t fieldNumber) const;
231 
233  private:
234  const HebiFeedbackRef& internal_;
235  HebiFeedbackNumberedFloatField const field_;
236  };
237 
239  class UInt64Field final {
240  public:
241 #ifndef DOXYGEN_OMIT_INTERNAL
242  UInt64Field(const HebiFeedbackRef& internal, HebiFeedbackUInt64Field field);
243 #endif // DOXYGEN_OMIT_INTERNAL
244  explicit operator bool() const { return has(); }
258  bool has() const;
261  uint64_t get() const;
262 
264  private:
265  const HebiFeedbackRef& internal_;
266  HebiFeedbackUInt64Field const field_;
267  };
268 
271  class Vector3fField final {
272  public:
273 #ifndef DOXYGEN_OMIT_INTERNAL
274  Vector3fField(const HebiFeedbackRef& internal, HebiFeedbackVector3fField field);
275 #endif // DOXYGEN_OMIT_INTERNAL
276  explicit operator bool() const { return has(); }
290  bool has() const;
293  Vector3f get() const;
294 
296  private:
297  const HebiFeedbackRef& internal_;
298  HebiFeedbackVector3fField const field_;
299  };
300 
303  class QuaternionfField final {
304  public:
305 #ifndef DOXYGEN_OMIT_INTERNAL
306  QuaternionfField(const HebiFeedbackRef& internal, HebiFeedbackQuaternionfField field);
307 #endif // DOXYGEN_OMIT_INTERNAL
308  explicit operator bool() const { return has(); }
322  bool has() const;
325  Quaternionf get() const;
326 
328  private:
329  const HebiFeedbackRef& internal_;
330  HebiFeedbackQuaternionfField const field_;
331  };
332 
334  template<typename T>
335  class EnumField final {
336  public:
337 #ifndef DOXYGEN_OMIT_INTERNAL
338  EnumField(const HebiFeedbackRef& internal, HebiFeedbackEnumField field) : internal_(internal), field_(field) {}
339 #endif // DOXYGEN_OMIT_INTERNAL
340  explicit operator bool() const { return has(); }
354  bool has() const {
355  return (enumGetter(internal_, field_, nullptr) == HebiStatusSuccess);
356  }
359  T get() const {
360  int32_t ret{};
361  enumGetter(internal_, field_, &ret);
362  return static_cast<T>(ret);
363  }
364 
366  private:
367  const HebiFeedbackRef& internal_;
368  HebiFeedbackEnumField const field_;
369  };
370 
372  class IoBank final {
373  public:
374 #ifndef DOXYGEN_OMIT_INTERNAL
375  IoBank(const HebiFeedbackRef& internal, HebiFeedbackIoPinBank bank);
376 #endif // DOXYGEN_OMIT_INTERNAL
377  bool hasInt(size_t pinNumber) const;
388  bool hasFloat(size_t pinNumber) const;
394  int64_t getInt(size_t pinNumber) const;
401  float getFloat(size_t pinNumber) const;
402 
404  private:
405  const HebiFeedbackRef& internal_;
406  HebiFeedbackIoPinBank const bank_;
407  };
408 
410  class LedField final {
411  public:
412 #ifndef DOXYGEN_OMIT_INTERNAL
413  LedField(const HebiFeedbackRef& internal, HebiFeedbackLedField field);
414 #endif // DOXYGEN_OMIT_INTERNAL
415  explicit operator bool() const { return hasColor(); }
429  bool hasColor() const;
431  Color getColor() const;
432 
434  private:
435  const HebiFeedbackRef& internal_;
436  HebiFeedbackLedField const field_;
437  };
438 
440  class Io final {
441  public:
442 #ifndef DOXYGEN_OMIT_INTERNAL
443  Io(const HebiFeedbackRef& internal)
444  : internal_(internal),
445  a_(internal, HebiFeedbackIoBankA),
446  b_(internal, HebiFeedbackIoBankB),
447  c_(internal, HebiFeedbackIoBankC),
448  d_(internal, HebiFeedbackIoBankD),
449  e_(internal, HebiFeedbackIoBankE),
450  f_(internal, HebiFeedbackIoBankF) {}
451 #endif // DOXYGEN_OMIT_INTERNAL
452 
453  // With all submessage and field getters: Note that the returned reference
454  // should not be used after the lifetime of this parent.
455 
456  // Subfields ----------------
457 
459  const IoBank& a() const { return a_; }
461  const IoBank& b() const { return b_; }
463  const IoBank& c() const { return c_; }
465  const IoBank& d() const { return d_; }
467  const IoBank& e() const { return e_; }
469  const IoBank& f() const { return f_; }
470 
472  private:
473  const HebiFeedbackRef& internal_;
474 
475  IoBank a_;
476  IoBank b_;
477  IoBank c_;
478  IoBank d_;
479  IoBank e_;
480  IoBank f_;
481  };
482 
484  class Actuator final {
485  public:
486 #ifndef DOXYGEN_OMIT_INTERNAL
487  Actuator(const HebiFeedbackRef& internal)
488  : velocity_(internal, HebiFeedbackFloatVelocity),
489  effort_(internal, HebiFeedbackFloatEffort),
490  velocity_command_(internal, HebiFeedbackFloatVelocityCommand),
491  effort_command_(internal, HebiFeedbackFloatEffortCommand),
492  deflection_(internal, HebiFeedbackFloatDeflection),
493  deflection_velocity_(internal, HebiFeedbackFloatDeflectionVelocity),
494  motor_velocity_(internal, HebiFeedbackFloatMotorVelocity),
495  motor_current_(internal, HebiFeedbackFloatMotorCurrent),
496  motor_sensor_temperature_(internal, HebiFeedbackFloatMotorSensorTemperature),
497  motor_winding_current_(internal, HebiFeedbackFloatMotorWindingCurrent),
498  motor_winding_temperature_(internal, HebiFeedbackFloatMotorWindingTemperature),
499  motor_housing_temperature_(internal, HebiFeedbackFloatMotorHousingTemperature),
500  pwm_command_(internal, HebiFeedbackFloatPwmCommand),
501  inner_effort_command_(internal, HebiFeedbackFloatInnerEffortCommand),
502  position_(internal, HebiFeedbackHighResAnglePosition),
503  position_command_(internal, HebiFeedbackHighResAnglePositionCommand),
504  motor_position_(internal, HebiFeedbackHighResAngleMotorPosition),
505  temperature_state_(internal, HebiFeedbackEnumTemperatureState),
506  mstop_state_(internal, HebiFeedbackEnumMstopState),
507  position_limit_state_(internal, HebiFeedbackEnumPositionLimitState),
508  velocity_limit_state_(internal, HebiFeedbackEnumVelocityLimitState),
509  effort_limit_state_(internal, HebiFeedbackEnumEffortLimitState),
510  command_lifetime_state_(internal, HebiFeedbackEnumCommandLifetimeState) {}
511 #endif // DOXYGEN_OMIT_INTERNAL
512 
513  // With all submessage and field getters: Note that the returned reference
514  // should not be used after the lifetime of this parent.
515 
516  // Subfields ----------------
517 
519  const FloatField& velocity() const { return velocity_; }
521  const FloatField& effort() const { return effort_; }
523  const FloatField& velocityCommand() const { return velocity_command_; }
525  const FloatField& effortCommand() const { return effort_command_; }
527  const FloatField& deflection() const { return deflection_; }
529  const FloatField& deflectionVelocity() const { return deflection_velocity_; }
531  const FloatField& motorVelocity() const { return motor_velocity_; }
533  const FloatField& motorCurrent() const { return motor_current_; }
535  const FloatField& motorSensorTemperature() const { return motor_sensor_temperature_; }
537  const FloatField& motorWindingCurrent() const { return motor_winding_current_; }
539  const FloatField& motorWindingTemperature() const { return motor_winding_temperature_; }
541  const FloatField& motorHousingTemperature() const { return motor_housing_temperature_; }
543  const FloatField& pwmCommand() const { return pwm_command_; }
545  const FloatField& innerEffortCommand() const { return inner_effort_command_; }
547  const HighResAngleField& position() const { return position_; }
549  const HighResAngleField& positionCommand() const { return position_command_; }
551  const HighResAngleField& motorPosition() const { return motor_position_; }
553  const EnumField<TemperatureState>& temperatureState() const { return temperature_state_; }
555  const EnumField<MstopState>& mstopState() const { return mstop_state_; }
557  const EnumField<PositionLimitState>& positionLimitState() const { return position_limit_state_; }
559  const EnumField<VelocityLimitState>& velocityLimitState() const { return velocity_limit_state_; }
561  const EnumField<EffortLimitState>& effortLimitState() const { return effort_limit_state_; }
563  const EnumField<CommandLifetimeState>& commandLifetimeState() const { return command_lifetime_state_; }
564 
566  private:
567  FloatField velocity_;
568  FloatField effort_;
569  FloatField velocity_command_;
570  FloatField effort_command_;
571  FloatField deflection_;
572  FloatField deflection_velocity_;
573  FloatField motor_velocity_;
574  FloatField motor_current_;
575  FloatField motor_sensor_temperature_;
576  FloatField motor_winding_current_;
577  FloatField motor_winding_temperature_;
578  FloatField motor_housing_temperature_;
579  FloatField pwm_command_;
580  FloatField inner_effort_command_;
581  HighResAngleField position_;
582  HighResAngleField position_command_;
583  HighResAngleField motor_position_;
584  EnumField<TemperatureState> temperature_state_;
585  EnumField<MstopState> mstop_state_;
586  EnumField<PositionLimitState> position_limit_state_;
587  EnumField<VelocityLimitState> velocity_limit_state_;
588  EnumField<EffortLimitState> effort_limit_state_;
589  EnumField<CommandLifetimeState> command_lifetime_state_;
590  };
591 
593  class Mobile final {
594  public:
595 #ifndef DOXYGEN_OMIT_INTERNAL
596  Mobile(const HebiFeedbackRef& internal)
597  : battery_level_(internal, HebiFeedbackFloatBatteryLevel),
598  ar_position_(internal, HebiFeedbackVector3fArPosition),
599  ar_orientation_(internal, HebiFeedbackQuaternionfArOrientation),
600  ar_quality_(internal, HebiFeedbackEnumArQuality) {}
601 #endif // DOXYGEN_OMIT_INTERNAL
602 
603  // With all submessage and field getters: Note that the returned reference
604  // should not be used after the lifetime of this parent.
605 
606  // Subfields ----------------
607 
609  const FloatField& batteryLevel() const { return battery_level_; }
611  const Vector3fField& arPosition() const { return ar_position_; }
613  const QuaternionfField& arOrientation() const { return ar_orientation_; }
615  const EnumField<ArQuality>& arQuality() const { return ar_quality_; }
616 
618  private:
619  FloatField battery_level_;
620  Vector3fField ar_position_;
621  QuaternionfField ar_orientation_;
622  EnumField<ArQuality> ar_quality_;
623  };
624 
626  class Imu final {
627  public:
628 #ifndef DOXYGEN_OMIT_INTERNAL
629  Imu(const HebiFeedbackRef& internal)
630  : accelerometer_(internal, HebiFeedbackVector3fAccelerometer),
631  gyro_(internal, HebiFeedbackVector3fGyro),
632  orientation_(internal, HebiFeedbackQuaternionfOrientation) {}
633 #endif // DOXYGEN_OMIT_INTERNAL
634 
635  // With all submessage and field getters: Note that the returned reference
636  // should not be used after the lifetime of this parent.
637 
638  // Subfields ----------------
639 
641  const Vector3fField& accelerometer() const { return accelerometer_; }
643  const Vector3fField& gyro() const { return gyro_; }
645  const QuaternionfField& orientation() const { return orientation_; }
646 
648  private:
649  Vector3fField accelerometer_;
650  Vector3fField gyro_;
651  QuaternionfField orientation_;
652  };
653 
654 private:
659  HebiFeedbackPtr internal_;
660  HebiFeedbackRef internal_ref_;
661 
662 public:
663 #ifndef DOXYGEN_OMIT_INTERNAL
664 
668  Feedback(HebiFeedbackPtr);
669 #endif // DOXYGEN_OMIT_INTERNAL
670 
673  Feedback(Feedback&& other);
674 
675  // With all submessage and field getters: Note that the returned reference
676  // should not be used after the lifetime of this parent.
677 
678  // Submessages -------------------------------------------------------------
679 
681  const Io& io() const { return io_; }
683  const Actuator& actuator() const { return actuator_; }
685  const Mobile& mobile() const { return mobile_; }
687  const Imu& imu() const { return imu_; }
688 
689  // Subfields -------------------------------------------------------------
690 
692  const FloatField& boardTemperature() const { return board_temperature_; }
694  const FloatField& processorTemperature() const { return processor_temperature_; }
696  const FloatField& voltage() const { return voltage_; }
697 #ifndef DOXYGEN_OMIT_INTERNAL
698  const NumberedFloatField& debug() const { return debug_; }
700 #endif // DOXYGEN_OMIT_INTERNAL
701  const UInt64Field& sequenceNumber() const { return sequence_number_; }
704  const UInt64Field& receiveTimeUs() const { return receive_time_us_; }
706  const UInt64Field& transmitTimeUs() const { return transmit_time_us_; }
708  const UInt64Field& hardwareReceiveTimeUs() const { return hardware_receive_time_us_; }
710  const UInt64Field& hardwareTransmitTimeUs() const { return hardware_transmit_time_us_; }
712  const UInt64Field& senderId() const { return sender_id_; }
714  const UInt64Field& rxSequenceNumber() const { return rx_sequence_number_; }
716  const LedField& led() const { return led_; }
717 
722 
723  /* Disable move assigment operator. */
724  Feedback& operator=(Feedback&& other) = delete;
725 
726 private:
727  Io io_;
728  Actuator actuator_;
729  Mobile mobile_;
730  Imu imu_;
731 
732  FloatField board_temperature_;
733  FloatField processor_temperature_;
734  FloatField voltage_;
735  NumberedFloatField debug_;
736  UInt64Field sequence_number_;
737  UInt64Field receive_time_us_;
738  UInt64Field transmit_time_us_;
739  UInt64Field hardware_receive_time_us_;
740  UInt64Field hardware_transmit_time_us_;
741  UInt64Field sender_id_;
742  UInt64Field rx_sequence_number_;
743  LedField led_;
744 };
745 
746 } // namespace hebi
bool has() const
True if (and only if) the field has a value.
Definition: feedback.cpp:14
The AR session is attempting to resume after an interruption.
The module has not been inside the safety limits since it was booted or the safety limits were set.
VelocityLimitState
Definition: feedback.hpp:69
const FloatField & voltage() const
Bus voltage that the module is running at (in Volts).
Definition: feedback.hpp:696
bool has(size_t fieldNumber) const
True if (and only if) the particular numbered subvalue of this field has a value.
Definition: feedback.cpp:52
const FloatField & deflection() const
Difference (in radians) between the pre-spring and post-spring output position.
Definition: feedback.hpp:527
bool has() const
True if (and only if) the field has a value.
Definition: feedback.hpp:354
const FloatField & motorVelocity() const
The velocity (in radians/second) of the motor shaft.
Definition: feedback.hpp:531
Camera position tracking is not available.
const IoBank & e() const
I/O pin bank e (pins 1-8 available)
Definition: feedback.hpp:467
Structure to hold a 3-D floating point vector (i.e., x/y/z components)
Definition: vector_3_f.hpp:8
#define HEBI_DISABLE_COPY(Class)
Definition: util.hpp:16
bool has() const
True if (and only if) the field has a value.
Definition: feedback.cpp:29
PositionLimitState
Definition: feedback.hpp:52
Commands are locked out due to control from other users.
Tracking is available albeit suboptimal for an unknown reason.
The device is moving too fast for accurate image-based position tracking.
const UInt64Field & hardwareTransmitTimeUs() const
Timestamp of when message was transmitted from module (remote; microseconds)
Definition: feedback.hpp:710
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: feedback.cpp:124
Definition: arm.cpp:8
float getFloat(size_t pinNumber) const
If this numbered pin in this bank has an floating point (e.g., analog or PWM) value,...
Definition: feedback.cpp:130
Structure to hold a floating point quaternion (i.e., w/x/y/z components)
Definition: quaternion_f.hpp:8
double get() const
If the field has a value, returns that value as a double; otherwise, returns a default.
Definition: feedback.cpp:33
const Mobile & mobile() const
Feedback generally from a mobile device such as a phone or tablet.
Definition: feedback.hpp:685
const EnumField< MstopState > & mstopState() const
Current status of the MStop.
Definition: feedback.hpp:555
const HighResAngleField & positionCommand() const
Commanded position of the module output (post-spring), in radians.
Definition: feedback.hpp:549
const FloatField & effort() const
Effort at the module output; units vary (e.g., N * m for rotational joints and N for linear stages).
Definition: feedback.hpp:521
CommandLifetimeState
Definition: feedback.hpp:103
const FloatField & innerEffortCommand() const
In control strategies 2 and 4, this is the torque of force command going to the inner torque PID loop...
Definition: feedback.hpp:545
const EnumField< EffortLimitState > & effortLimitState() const
Software-controlled bounds on the allowable effort of the module.
Definition: feedback.hpp:561
#define HEBI_DISABLE_COPY_MOVE(Class)
Definition: util.hpp:6
const Vector3fField & arPosition() const
A device's position in the world as calculated from an augmented reality framework,...
Definition: feedback.hpp:611
const UInt64Field & rxSequenceNumber() const
Sequence number of incoming packet per module (local)
Definition: feedback.hpp:714
A message field representable by a single-precision floating point value.
Definition: feedback.hpp:132
Inertial measurement unit feedback (accelerometers and gyros).
Definition: feedback.hpp:626
Feedback objects have various fields representing feedback from modules; which fields are populated d...
Definition: feedback.hpp:32
A message field for interfacing with a bank of I/O pins.
Definition: feedback.hpp:372
bool hasInt(size_t pinNumber) const
True if (and only if) the particular numbered pin in this bank has an integer (e.g....
Definition: feedback.cpp:116
The effort of the module was near the upper safety limit, and the motor output is being limited or re...
const IoBank & d() const
I/O pin bank d (pins 1-8 available)
Definition: feedback.hpp:465
The AR session has not yet gathered enough camera or motion data to provide tracking information.
A message field representable by a 3-D vector of single-precision floating point values.
Definition: feedback.hpp:303
bool hasColor() const
Returns true if the LED color is set, and false otherwise.
Definition: feedback.cpp:139
The velocity of the module was near the upper safety limit, and the motor output is being limited or ...
const FloatField & velocity() const
Velocity of the module output (post-spring), in radians/second.
Definition: feedback.hpp:519
bool has() const
True if (and only if) the field has a value.
Definition: feedback.cpp:82
The effort of the module was within the safety limits.
const EnumField< VelocityLimitState > & velocityLimitState() const
Software-controlled bounds on the allowable velocity of the module.
Definition: feedback.hpp:559
const UInt64Field & senderId() const
Unique ID of the module transmitting this feedback.
Definition: feedback.hpp:712
A message field for an angle measurement which does not lose precision at very high angles.
Definition: feedback.hpp:167
const FloatField & effortCommand() const
Commanded effort at the module output; units vary (e.g., N * m for rotational joints and N for linear...
Definition: feedback.hpp:525
const IoBank & f() const
I/O pin bank f (pins 1-8 available)
Definition: feedback.hpp:469
The module has not been inside the safety limits since it was booted or the safety limits were set.
const EnumField< ArQuality > & arQuality() const
The status of the augmented reality tracking, if using an AR enabled device.
Definition: feedback.hpp:615
HebiStatusCode enumGetter(const RefT &ref, MetadataT &metadata, int field, int32_t *value)
Definition: message_helpers.cpp:298
TemperatureState
Definition: feedback.hpp:34
const HighResAngleField & position() const
Position of the module output (post-spring), in radians.
Definition: feedback.hpp:547
The position of the module was near the upper safety limit, and the motor output is being limited or ...
A message field representable by an enum of a given type.
Definition: feedback.hpp:335
const FloatField & motorWindingTemperature() const
The estimated temperature of the motor windings.
Definition: feedback.hpp:539
const FloatField & boardTemperature() const
Ambient temperature inside the module (measured at the IMU chip), in degrees Celsius.
Definition: feedback.hpp:692
T get() const
If the field has a value, returns that value; otherwise, returns a default.
Definition: feedback.hpp:359
Commands from others are locked out due to control from this group.
Temperature within normal range.
const Vector3fField & gyro() const
Gyro data, in radians/second.
Definition: feedback.hpp:643
const EnumField< TemperatureState > & temperatureState() const
Describes how the temperature inside the module is limiting the output of the motor.
Definition: feedback.hpp:553
const FloatField & processorTemperature() const
Temperature of the processor chip, in degrees Celsius.
Definition: feedback.hpp:694
const LedField & led() const
The module's LED.
Definition: feedback.hpp:716
A message field for interfacing with an LED.
Definition: feedback.hpp:410
const UInt64Field & sequenceNumber() const
Sequence number going to module (local)
Definition: feedback.hpp:702
const Imu & imu() const
Inertial measurement unit feedback (accelerometers and gyros).
Definition: feedback.hpp:687
const FloatField & motorWindingCurrent() const
The estimated current in the motor windings.
Definition: feedback.hpp:537
const FloatField & batteryLevel() const
Charge level of the device’s battery (in percent).
Definition: feedback.hpp:609
const FloatField & velocityCommand() const
Commanded velocity of the module output (post-spring), in radians/second.
Definition: feedback.hpp:523
const QuaternionfField & orientation() const
A filtered estimate of the orientation of the module.
Definition: feedback.hpp:645
const EnumField< CommandLifetimeState > & commandLifetimeState() const
The state of the command lifetime safety controller, with respect to the current group.
Definition: feedback.hpp:563
Feedback generally from a mobile device such as a phone or tablet.
Definition: feedback.hpp:593
const FloatField & motorHousingTemperature() const
The estimated temperature of the motor housing.
Definition: feedback.hpp:541
float get(size_t fieldNumber) const
If the particular numbered subvalue of this field has a value, returns that value; otherwise returns ...
Definition: feedback.cpp:56
float get() const
If the field has a value, returns that value; otherwise, returns a default.
Definition: feedback.cpp:18
Motor output beginning to be limited due to high temperature.
Feedback from any available I/O pins on the device.
Definition: feedback.hpp:440
There is not command lifetime active on this module.
const FloatField & deflectionVelocity() const
Velocity (in radians/second) of the difference between the pre-spring and post-spring output position...
Definition: feedback.hpp:529
A message field representable by an unsigned 64 bit integer value.
Definition: feedback.hpp:239
Feedback & operator=(Feedback &&other)=delete
Vector3f get() const
If the field has a value, returns that value; otherwise, returns a default.
Definition: feedback.cpp:86
Temperature exceeds max allowable for electronics; motor output disabled.
The effort of the module was near the lower safety limit, and the motor output is being limited or re...
ArQuality
Definition: feedback.hpp:112
The velocity of the module was near the lower safety limit, and the motor output is being limited or ...
const IoBank & a() const
I/O pin bank a (pins 1-8 available)
Definition: feedback.hpp:459
Temperature exceeds max allowable for motor; motor output disabled.
const UInt64Field & receiveTimeUs() const
Timestamp of when message was received from module (local; microseconds)
Definition: feedback.hpp:704
const FloatField & motorSensorTemperature() const
The temperature from a sensor near the motor housing.
Definition: feedback.hpp:535
The position of the module was within the safety limits.
const UInt64Field & transmitTimeUs() const
Timestamp of when message was transmitted to module (local; microseconds)
Definition: feedback.hpp:706
uint64_t get() const
If the field has a value, returns that value; otherwise, returns a default.
Definition: feedback.cpp:71
const EnumField< PositionLimitState > & positionLimitState() const
Software-controlled bounds on the allowable position of the module; user settable.
Definition: feedback.hpp:557
Actuator-specific feedback.
Definition: feedback.hpp:484
bool has() const
True if (and only if) the field has a value.
Definition: feedback.cpp:99
MstopState
Definition: feedback.hpp:45
const Vector3fField & accelerometer() const
Accelerometer data, in m/s^2.
Definition: feedback.hpp:641
const FloatField & pwmCommand() const
Commanded PWM signal sent to the motor; final output of PID controllers.
Definition: feedback.hpp:543
bool has() const
True if (and only if) the field has a value.
Definition: feedback.cpp:67
const UInt64Field & hardwareReceiveTimeUs() const
Timestamp of when message was received by module (remote; microseconds)
Definition: feedback.hpp:708
Feedback(Feedback &&other)
Move constructor (necessary for containment in STL template classes)
Definition: feedback.cpp:154
The module has not been inside the safety limits since it was booted or the safety limits were set.
EffortLimitState
Definition: feedback.hpp:86
Camera position tracking is providing optimal results.
const Actuator & actuator() const
Actuator-specific feedback.
Definition: feedback.hpp:683
const Io & io() const
Feedback from any available I/O pins on the device.
Definition: feedback.hpp:681
const QuaternionfField & arOrientation() const
A device's orientation in the world as calculated from an augmented reality framework.
Definition: feedback.hpp:613
Structure to describe an RGB color.
Definition: color.hpp:8
The velocity of the module was within the safety limits.
const HighResAngleField & motorPosition() const
The position of an actuator’s internal motor before the gear reduction, in radians.
Definition: feedback.hpp:551
A message field containing a numbered set of single-precision floating point values.
Definition: feedback.hpp:214
bool hasFloat(size_t pinNumber) const
True if (and only if) the particular numbered pin in this bank has an floating point (e....
Definition: feedback.cpp:120
Quaternionf get() const
If the field has a value, returns that value; otherwise, returns a default.
Definition: feedback.cpp:103
A message field representable by a 3-D vector of single-precision floating point values.
Definition: feedback.hpp:271
const IoBank & b() const
I/O pin bank b (pins 1-8 available)
Definition: feedback.hpp:461
Color getColor() const
Returns the led color.
Definition: feedback.cpp:143
The position of the module was near the lower safety limit, and the motor output is being limited or ...
const IoBank & c() const
I/O pin bank c (pins 1-8 available)
Definition: feedback.hpp:463
const FloatField & motorCurrent() const
Current supplied to the motor.
Definition: feedback.hpp:533