Class CoreSensors

Defined in File core_sensors.hpp

Nested Relationships

Nested Types

Inheritance Relationships

Base Type

public packet_handler::payloadBase (Class payloadBase)

Class Documentation

class CoreSensors : public packet_handler::payloadBase 

Public Functions

inline CoreSensors()

virtual bool serialise(ecl::PushAndPop<unsigned char> &byteStream)

virtual bool deserialise(ecl::PushAndPop<unsigned char> &byteStream)

Public Members

struct kobuki::CoreSensors::Data data

struct Data

Public Members

uint16_t time_stamp

uint8_t bumper

uint8_t wheel_drop

uint8_t cliff

uint16_t left_encoder

uint16_t right_encoder

char left_pwm

char right_pwm

uint8_t buttons

uint8_t charger

uint8_t battery

uint8_t over_current

struct Flags

Public Static Attributes

static const uint8_t Button0 = 0x01

static const uint8_t Button1 = 0x02

static const uint8_t Button2 = 0x04

static const uint8_t LeftBumper = 0x04

static const uint8_t CenterBumper = 0x02

static const uint8_t RightBumper = 0x01

static const uint8_t LeftCliff = 0x04

static const uint8_t CenterCliff = 0x02

static const uint8_t RightCliff = 0x01

static const uint8_t LeftWheel = 0x02

static const uint8_t RightWheel = 0x01

static const uint8_t AdapterType = 0x10

static const uint8_t BatteryStateMask = 0x0F

static const uint8_t Discharging = 0x00

static const uint8_t Charged = 0x02

static const uint8_t Charging = 0x06

static const uint8_t LeftWheel_OC = 0x01

static const uint8_t RightWheel_OC = 0x02