MATLAB File Help: HebiGroup
HebiGroup
  HebiGroup is a collection of one or more modules.
 
    Groups of modules are the basic way to send commands and retrieve
    feedback. They provide convenient ways to deal with modules, and
    handle high-level issues such as data synchronization and logging.
 
    HebiGroup Methods (configuration):
    getNumModules        - returns the number of grouped modules
    setFeedbackFrequency - sets the feedback request rate
    getFeedbackFrequency - gets the feedback request rate
    setCommandLifetime   - sets the command lifetime
    getCommandLifetime   - gets the command lifetime
 
    HebiGroup Methods (common):
    send                  - sends synchronized commands, as well as a
                            number of other settings and parameters
    getNextFeedback       - returns the next new 'simple' feedback
    getNextFeedbackFull   - returns the next new 'full' feedback  
    getNextFeedbackIO     - returns the next new 'I/O' board feedback 
    getNextFeedbackMobile - returns the next new 'mobile' feedback 
    getInfo               - returns meta information such as names
    getGains              - returns the current gains
    getSafetyParams       - returns safety parameters such as limits
    startLog              - starts background logging to disk
    isLogging             - returns whether logging is currently active
    stopLog               - stops logging and returns a readable format
    stopLogFull           - same as above, returning full feedback
    stopLogIO             - same as above, returning I/O feedback
    stopLogMobile         - same as above, returning mobile feedback
 
    Example
       % 200 Hz loop commanding of the current position
       group.setFeedbackFrequency(200);
       cmd = CommandStruct();
       group.startLog();
       t0 = tic();
       while toc(t0) < 5 
           fbk = group.getNextFeedback();
           cmd.position = fbk.position;
           group.send(cmd);
       end
       log = group.stopLog();
 
       % Plotting the commanded / feedback positions
       plot(log.time, log.position);
       hold on;
       plot(log.time, log.positionCmd, '--');
       hold off;
       xlabel('time (sec)');
       ylabel('position (rad)');
       legend(group.getInfo.name);
See also
Class Details
Superclasses handle
Sealed true
Construct on load false
Method Summary
  get returns a variety of data structs 
  getCommandLifetime returns the current command lifetime [s]. 
  getFeedbackFrequency returns the feedback polling frequency [Hz] 
  getGains returns the current gains 
  getInfo returns meta information such as names 
  getNextFeedback returns the next new synchronized feedback. 
  getNextFeedbackFull is a convenience wrapper for getNextFeedback 
  getNextFeedbackIO is a convenience wrapper for getNextFeedback 
  getNextFeedbackMobile is a convenience wrapper for getNextFeedback 
  getNumModules returns the number of modules within a group. 
  getSafetyParams returns safety parameters such as limits 
  isLogging returns whether logging is currently active 
Sealed   isvalid Test handle validity. 
  send sends commands and settings to modules. 
  setCommandLifetime sets the command lifetime [s]. 
  setFeedbackFrequency sets the feedback polling frequency [Hz] 
  startLog logs incoming feedback data to disk 
  stopLog stops logging and converts the log to a specified format 
  stopLogFull is a convenience wrapper for stopLog 
  stopLogIO is a convenience wrapper for stopLog 
  stopLogMobile is a convenience wrapper for stopLog 
Event Summary
ObjectBeingDestroyed Notifies listeners that a particular object has been destroyed.