Struct MsgSteerCmd

Defined in File dispatch.hpp

Inheritance Relationships

Derived Types

public ds_dbw_can::MsgSteerCmdRmt (Struct MsgSteerCmdRmt)
public ds_dbw_can::MsgSteerCmdUsr (Struct MsgSteerCmdUsr)

Struct Documentation

struct MsgSteerCmd

Subclassed by ds_dbw_can::MsgSteerCmdRmt, ds_dbw_can::MsgSteerCmdUsr

Public Types

enum class CmdType : uint8_t 

Values:

enumerator None

enumerator Torque

enumerator Angle

enumerator Curvature

enumerator YawRate

enumerator Percent

enumerator Calibrate

Public Functions

inline void reset()

inline void setCmdTorqueNm(float nm)

inline void setCmdAngleDeg(float deg, float deg_s = 0, float deg_s2 = 0)

inline void setCmdAngleRad(float rad, float rad_s = 0, float rad_s2 = 0)

inline void setCmdCurvMDeg(float curv, float deg_s = 0, float deg_s2 = 0)

inline void setCmdCurvMRad(float curv, float rad_s = 0, float rad_s2 = 0)

inline void setCmdYawRateDegS(float yaw_deg_s, float deg_s = 0, float deg_s2 = 0)

inline void setCmdYawRateRadS(float yaw_rad_s, float rad_s = 0, float rad_s2 = 0)

inline void setCmdPercentDeg(float percent, float deg_s = 0, float deg_s2 = 0)

inline void setCmdPercentRad(float percent, float rad_s = 0, float rad_s2 = 0)

inline float cmdTorqueNm() const

inline float cmdAngleDeg() const

inline float cmdCurvM() const

inline float cmdYawRateDegS() const

inline float cmdPercent() const

inline float cmdAngleRateDegS() const

inline float cmdAngleAccelDegS2() const

inline bool validRc(uint8_t rc) const

Public Members

int16_t cmd

CmdType cmd_type

uint8_t enable

uint8_t clear

uint8_t ignore

uint8_t __pad0__

uint8_t rate

uint8_t accel

uint8_t __pad1__

uint8_t __pad2__

uint8_t rc

uint8_t crc

Public Static Attributes

static constexpr size_t TIMEOUT_MS = 100