Struct MsgSteerReport1

Defined in File dispatch.hpp

Struct Documentation

struct MsgSteerReport1

Public Types

enum class CmdType : uint8_t 

Values:

enumerator None

enumerator Torque

enumerator Angle

Public Functions

inline void reset()

inline void setAngleDeg(float deg)

inline bool angleValid() const

inline float angleDeg() const

inline float angleRad() const

inline bool cmdValid() const

inline float cmdAngleDeg() const

inline float cmdAngleRad() const

inline float cmdTorqueNm() const

inline void setCmd(MsgSteerCmd::CmdType type, float deg, float nm)

inline void setTorqueNm(float nm)

inline bool torqueValid() const

inline float torqueNm() const

inline void setCrc()

inline bool validCrc() const

inline bool validRc(uint8_t rc) const

Public Members

int16_t angle

uint8_t limiting_value

uint8_t limiting_rate

int16_t cmd

CmdType cmd_type

int8_t torque

uint8_t __pad0__

uint8_t external_control

uint8_t override_active

uint8_t override_other

uint8_t override_latched

uint8_t ready

uint8_t enabled

uint8_t fault

uint8_t timeout

uint8_t bad_crc

uint8_t bad_rc

uint8_t rc

uint8_t crc

Public Static Attributes

static constexpr uint32_t ID = 0x100

static constexpr size_t PERIOD_MIN = 8

static constexpr size_t PERIOD_MS = 10

static constexpr size_t PERIOD_MAX = 25

static constexpr size_t TIMEOUT_MS = 100