HebiEnum maps strategies and states to human readable values
Maps strategy settings and state feedback to human readable
enum values.
Example
fbk = group.getNextFeedbackFull();
if(fbk.temperatureState ~= HebiEnum.TemperatureStateNormal)
disp('reducing performance due to temperature limits!');
end
Example
safetyParams = SafetyParamsStruct();
safetyParams.mStopStrategy = HebiEnum.MStopStrategyMotorHold;
safetyParams.positionLimitStrategy = HebiEnum.PositionLimitStrategyHoldPosition;
For detailed information about each state, please run 'doc HebiEnum'
or check the online API documentation.
| ArQualityLimitedExcessiveMotion |
The device is moving too fast for accurate image-based position tracking. |
| ArQualityLimitedInitializing |
The AR session has not yet gathered enough camera or motion data to provide tracking information. |
| ArQualityLimitedInsufficientFeatures |
The scene visible to the camera does not contain enough distinguishable features for image-based position tracking. |
| ArQualityLimitedRelocalizing |
The AR session is attempting to resume after an interruption. |
| ArQualityLimitedUnknown |
Tracking is available albeit suboptimal for an unknown reason. |
| ArQualityNormal |
Camera position tracking is providing optimal results. |
| ArQualityNotAvailable |
Camera position tracking is not available. |
| CommandLockStateLockedByOther |
Commands are locked out due to control from other users. |
| CommandLockStateLockedBySender |
Commands from others are locked out due to control from this group. |
| CommandLockStateNotAvailable |
The state is not available. |
| CommandLockStateUnlocked |
There is no command lifetime active on this module. |
| ControlStrategy2 |
A combination of the position, velocity, and effort loops with P and V feeding to T; documented on docs.hebi.us under "Control
Modes"
|
| ControlStrategy3 |
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"
|
| ControlStrategy4 |
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"
|
| ControlStrategyDirectPWM |
A direct PWM value (-1 to 1) can be sent to the motor (subject to onboard safety limiting). |
| ControlStrategyNotAvailable |
The strategy is not available or the strategy will not be changed. |
| ControlStrategyOff |
The motor is not given power (equivalent to a 0 PWM value) |
| DrivetrainStateNormal |
The drivetrain is operating normally. |
| DrivetrainStateNotAvailable |
The state is not available. |
| DrivetrainStateUncalibratedCurrent |
The drivetrain is missing current calibration. |
| DrivetrainStateUncalibratedEffort |
The drivetrain is missing effort calibration. |
| DrivetrainStateUncalibratedPosition |
The drivetrain is missing position calibration. |
| EffortLimitStateAbove |
The effort of the module was above the upper safety limit; the motor output is set to return the module to within the limits |
| EffortLimitStateAtLower |
The effort of the module was near the lower safety limit, and the motor output is being limited or reversed. |
| EffortLimitStateAtUpper |
The effort of the module was near the upper safety limit, and the motor output is being limited or reversed. |
| EffortLimitStateBelow |
The effort of the module was below the lower safety limit; the motor output is set to return the module to within the limits |
| EffortLimitStateInside |
The effort of the module was within the safety limits. |
| EffortLimitStateNotAvailable |
The state is not available. |
| EffortLimitStateUninitialized |
The module has not been inside the safety limits since it was booted or the safety limits were set. |
| MStopStateNotAvailable |
The state is not available. |
| MStopStateNotTriggered |
The MStop is not pressed. |
| MStopStateTriggered |
The MStop is pressed. |
| MStopStrategyDisabled |
Triggering the M-Stop has no effect. |
| MStopStrategyHoldPosition |
Triggering the M-Stop results in the actuator holding the position. Operations resume to normal once trigger is released. |
| MStopStrategyMotorOff |
Triggering the M-Stop results in the control strategy being set to 'off'. Remains 'off' until changed by user. |
| MStopStrategyNotAvailable |
The strategy is not available or the strategy will not be changed. |
| PositionLimitStateAbove |
The position of the module was above the upper safety limit; the motor output is set to return the module to within the limits |
| PositionLimitStateAtLower |
The position of the module was near the lower safety limit, and the motor output is being limited or reversed. |
| PositionLimitStateAtUpper |
The position of the module was near the upper safety limit, and the motor output is being limited or reversed. |
| PositionLimitStateBelow |
The position of the module was below the lower safety limit; the motor output is set to return the module to within the limits |
| PositionLimitStateInside |
The position of the module was within the safety limits. |
| PositionLimitStateNotAvailable |
The state is not available. |
| PositionLimitStateUninitialized |
The module has not been inside the safety limits since it was booted or the safety limits were set. |
| PositionLimitStrategyDampedSpring |
Triggering the position limit results in a virtual spring that pushes the actuator back to within the limits. |
| PositionLimitStrategyDisabled |
Triggering the position limit has no effect. |
| PositionLimitStrategyHoldPosition |
Triggering the position limit results in the actuator holding the position. Needs to be manually set to 'disabled' to recover. |
| PositionLimitStrategyMotorOff |
Triggering the position limit results in the control strategy being set to 'off'. Remains 'off' until changed by user. |
| PositionLimitStrategyNotAvailable |
The strategy is not available or the strategy will not be changed. |
| ResetButtonStateNotAvailable |
The state is not available. |
| ResetButtonStateNotTriggered |
The reset button is not pressed. |
| ResetButtonStateTriggered |
The reset button is pressed. |
| TemperatureStateCritical |
Motor output beginning to be limited due to high temperature. |
| TemperatureStateExceedMaxBoard |
Temperature exceeds max allowable for electronics; motor output disabled. |
| TemperatureStateExceedMaxMotor |
Temperature exceeds max allowable for motor; motor output disabled. |
| TemperatureStateNormal |
Temperature within normal range. |
| TemperatureStateNotAvailable |
The state is not available. |
| VelocityLimitStateAbove |
The velocity of the module was above the upper safety limit; the motor output is set to return the module to within the limits |
| VelocityLimitStateAtLower |
The velocity of the module was near the lower safety limit, and the motor output is being limited or reversed. |
| VelocityLimitStateAtUpper |
The velocity of the module was near the upper safety limit, and the motor output is being limited or reversed. |
| VelocityLimitStateBelow |
The velocity of the module was below the lower safety limit; the motor output is set to return the module to within the limits |
| VelocityLimitStateInside |
The velocity of the module was within the safety limits. |
| VelocityLimitStateNotAvailable |
The state is not available. |
| VelocityLimitStateUninitialized |
The module has not been inside the safety limits since it was booted or the safety limits were set. |