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cisst-saw
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cisst-saw
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#include <Barrett.h>
Public Types | |
| enum | Command { GET, SET } |
| enum | ID { VERSION = 0, ROLE = 1, SERIALNUMBER = 2, CANBUSID = 3, ERROR = 4, STATUS = 5, ADDRESS = 6, VALUE = 7, MODE = 8, TEMPERATURE = 9, PEAKTEMPERATURE = 10, OVERHEAT = 11, BAUDRATE = 12, LOCK = 13, DIGITALIO0 = 14, DIGITALIO1 = 15, TENSIONER = 16, BRAKE = 17, ANALOGIN0 = 18, ANALOGIN1 = 19, THERMISTOR = 20, VBUS = 21, IMOTOR = 22, VLOGIC = 23, ILOGIC = 24, STRAINGAGE = 25, GROUPA = 26, GROUPB = 27, GROUPC = 28, COMMAND = 29, SAVE = 30, LOAD = 31, DEFAULTCOMMAND = 32, FINDCOMMAND = 33, X0 = 34, X1 = 35, X2 = 36, X3 = 37, X4 = 38, X5 = 39, X6 = 40, X7 = 41, TRQ = 42, MAXTRQ = 43, VEL = 44, MAXVEL = 45, MCV = 46, MOV = 47, POS = 48, P2 = 49, DEFAULTPOS = 50, DP2 = 51, ENDPOINT = 52, E2 = 53, OPENTARGET = 54, OT2 = 55, CLOSETARGET = 56, CT2 = 57, MECHANGLE_ENC = 58, M2 = 59, DS = 60, MECHOFFSET = 61, CURRENTOFFSET = 62, UPTIME = 63, OD = 64, MAXDUTYSUM = 65, MECHANGLE = 66, MECH2 = 67, COUNTSPERREV = 68, CTS2 = 69, PUCKINDEX = 70, HSG = 71, LSG = 72, IVEL = 73, INITOFFSET = 74, IOFF2 = 75, MPE = 76, EN = 77, TIME2STOP = 78, KP = 79, KD = 80, KI = 81, ACCEL = 82, TENST = 83, TENSO = 84, JIDX = 85, IPNM = 86, HALLS = 87, HALLH = 88, HALLH2 = 89, POLES = 90, IKP = 91, IKI = 92, IKCOR = 93, HOLD = 94, TIE = 95, ECMAX = 96, ECMIN = 97, LFLAGS = 98, LCTC = 99, LCVC = 100, LASTPROP = 101, ZERO = 42, PEN = 43, SAFE = 44, VELWARNING = 45, VELFAULT = 46, TRQWARNING = 47, TRQFAULT = 48, VOLTWARNINGL = 49, VOLTFAULTL = 50, VOLTWARNINGH = 51, VOLTFAULTH = 52, POWER = 53, MAXPOWER = 54, IGNOREFAULT = 55, VNOM = 56 } |
| typedef int64_t | Value |
| Define the value of a property (4-6 bytes) More... | |
Static Public Attributes | |
| static const unsigned char | GET_CODE = 0x00 |
| static const unsigned char | SET_CODE = 0x80 |
| static const size_t | NUM_PROPERTIES = 128 |
| The number of properties available. More... | |
| typedef int64_t Barrett::Value |
Define the value of a property (4-6 bytes)
| enum Barrett::Command |
| enum Barrett::ID |
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static |
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static |
The number of properties available.
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1.8.6