Class blmc_drivers::MotorBoardCommand

class MotorBoardCommand

This MotorBoardCommand class is a data structurs that defines a command.

Public Types

enum IDs

IDs are the different implemented commands that one can send to the MotorBoard.

Values:

enumerator ENABLE_SYS

enumerator ENABLE_MTR1

enumerator ENABLE_MTR2

enumerator ENABLE_VSPRING1

enumerator ENABLE_VSPRING2

enumerator SEND_CURRENT

enumerator SEND_POSITION

enumerator SEND_VELOCITY

enumerator SEND_ADC6

enumerator SEND_ENC_INDEX

enumerator SEND_ALL

enumerator SET_CAN_RECV_TIMEOUT

enumerator ENABLE_POS_ROLLOVER_ERROR

enumerator ENABLE_SYS

enumerator ENABLE_MTR1

enumerator ENABLE_MTR2

enumerator ENABLE_VSPRING1

enumerator ENABLE_VSPRING2

enumerator SEND_CURRENT

enumerator SEND_POSITION

enumerator SEND_VELOCITY

enumerator SEND_ADC6

enumerator SEND_ENC_INDEX

enumerator SEND_ALL

enumerator SET_CAN_RECV_TIMEOUT

enumerator ENABLE_POS_ROLLOVER_ERROR

enum Contents

Is the different command status.

Values:

enumerator ENABLE

enumerator DISABLE

enumerator ENABLE

enumerator DISABLE

enum IDs

IDs are the different implemented commands that one can send to the MotorBoard.

Values:

enumerator ENABLE_SYS

enumerator ENABLE_MTR1

enumerator ENABLE_MTR2

enumerator ENABLE_VSPRING1

enumerator ENABLE_VSPRING2

enumerator SEND_CURRENT

enumerator SEND_POSITION

enumerator SEND_VELOCITY

enumerator SEND_ADC6

enumerator SEND_ENC_INDEX

enumerator SEND_ALL

enumerator SET_CAN_RECV_TIMEOUT

enumerator ENABLE_POS_ROLLOVER_ERROR

enumerator ENABLE_SYS

enumerator ENABLE_MTR1

enumerator ENABLE_MTR2

enumerator ENABLE_VSPRING1

enumerator ENABLE_VSPRING2

enumerator SEND_CURRENT

enumerator SEND_POSITION

enumerator SEND_VELOCITY

enumerator SEND_ADC6

enumerator SEND_ENC_INDEX

enumerator SEND_ALL

enumerator SET_CAN_RECV_TIMEOUT

enumerator ENABLE_POS_ROLLOVER_ERROR

enum Contents

Is the different command status.

Values:

enumerator ENABLE

enumerator DISABLE

enumerator ENABLE

enumerator DISABLE

Public Functions

inline MotorBoardCommand()

Construct a new MotorBoardCommand object.

inline MotorBoardCommand(uint32_t id, int32_t content)

Construct a new MotorBoardCommand object.

Parameters:

• id – defines the command to apply.

• content – defines of the command is enabled or disabled.

inline void print() const

Display on a terminal the status of the message.

inline MotorBoardCommand()

Construct a new MotorBoardCommand object.

inline MotorBoardCommand(uint32_t id, int32_t content)

Construct a new MotorBoardCommand object.

Parameters:

• id – defines the command to apply.

• content – defines of the command is enabled or disabled.

inline void print() const

Display on a terminal the status of the message.

Public Members

uint32_t id_

id_ is the command to be modifies on the card.

int32_t content_

content_ is the value of teh command to be sent to the cards.