redux::sensors::canandgyro::CanandgyroSettings Class Reference

#include <CanandgyroSettings.h>

Inheritance diagram for redux::sensors::canandgyro::CanandgyroSettings:

Public Member Functions
const std::vector< uint8_t > &	SettingAddresses () const override
void	SetYawFramePeriod (units::second_t period)
void	SetAngularPositionFramePeriod (units::second_t period)
void	SetAngularVelocityFramePeriod (units::second_t period)
void	SetAccelerationFramePeriod (units::second_t period)
void	SetStatusFramePeriod (units::second_t period)
std::optional< units::second_t >	GetYawFramePeriod ()
std::optional< units::second_t >	GetAngularPositionFramePeriod ()
std::optional< units::second_t >	GetAngularVelocityFramePeriod ()
std::optional< units::second_t >	GetAccelerationFramePeriod ()
std::optional< units::second_t >	GetStatusFramePeriod ()
Public Member Functions inherited from redux::canand::CanandSettings
	CanandSettings ()=default
	CanandSettings (CanandSettings &stg)
	~CanandSettings ()=default
std::unordered_map< uint8_t, uint64_t >	FilteredMap ()
bool	AllSettingsReceived () const
virtual const std::vector< uint8_t > &	SettingAddresses () const
std::unordered_map< uint8_t, uint64_t > &	GetMap ()
bool	IsEmpty () const
bool	IsEphemeral () const
void	SetEphemeral (bool value)
std::string	ToString ()

Additional Inherited Members
Protected Attributes inherited from redux::canand::CanandSettings
std::unordered_map< uint8_t, uint64_t >	values
bool	ephemeral = false

Detailed Description

The settings class for the Canandgyro.

This class holds settings values that can be used to reconfigure Canandgyro via Canandgyro::SetSettings Additionally, objects of this class can be filled using Canandgyro.GetSettings which can be used to read the encoder's settings.

Canandgyro enc = Canandgyro{0};
 
// Only settings that are explicitly set here will be edited, so other settings 
// such as the status frame period will remain untouched.
CanandgyroSettings stg;
stg.SetAngularVelocityFramePeriod(0_ms); // disables angular velocity readings
stg.SetYawFramePeriod(5_ms); // sets the rate of yaw measurements to every 5 ms
 
enc.SetSettings(stg);

Objects returned by the blocking Canandgyro::GetSettings() method will generally have all setting values populated and the getters will not return std::nullopt assuming no timeout occured.

However, they may return std::nullopt if the object is either manually constructed and the corresponding getter hasn't been called yet (e.g. calling GetStatusFramePeriod before SetStatusFramePeriod on an object you made) or if the object comes from Canandgyro::GetSettingsAsync() and not all settings have been received (use AllSettingsReceived() to check if all are present)

cppreference on std::optional may be helpful here.

Example blocking fetch:

Canandgyro canandgyro{0};
CanandgyroSettings stg = canandgyro.GetSettings();
if (stg.AllSettingsReceived()) { // check for timeout
  fmt::print("status frame period: {}\n", *stg.GetStatusFramePeriod()); // print the status frame period (usually 1000 ms)
}

Member Function Documentation

GetAccelerationFramePeriod()

std::optional< units::second_t > redux::sensors::canandgyro::CanandgyroSettings::GetAccelerationFramePeriod

(

)

Gets the acceleration frame period in seconds [0..65.535], or std::nullopt if the value has not been set on this object.

A value of 0 means acceleration frames are disabled.

Returns

the frame period in seconds [0..65.535], or std::nullopt if the value has not been set on this object.

GetAngularPositionFramePeriod()

std::optional< units::second_t > redux::sensors::canandgyro::CanandgyroSettings::GetAngularPositionFramePeriod

(

)

Gets the angular position frame period in seconds [0..65.535], or std::nullopt if the value has not been set on this object.

A value of 0 means angular position frames are disabled.

Returns

the frame period in seconds [0..65.535], or std::nullopt if the value has not been set on this object.

GetAngularVelocityFramePeriod()

std::optional< units::second_t > redux::sensors::canandgyro::CanandgyroSettings::GetAngularVelocityFramePeriod

(

)

Gets the angular velocity frame period in seconds [0..65.535], or std::nullopt if the value has not been set on this object.

A value of 0 means angular velocity frames are disabled.

Returns

the frame period in seconds [0..65.535], or std::nullopt if the value has not been set on this object.

GetStatusFramePeriod()

std::optional< units::second_t > redux::sensors::canandgyro::CanandgyroSettings::GetStatusFramePeriod

(

)

Gets the status frame period in seconds [0.001..16.383], or std::nullopt if the value has not beeno set on this object.

Returns

the status frame period in seconds [0.001..16.383], or std::nullopt if the value has not been set on this object.

GetYawFramePeriod()

std::optional< units::second_t > redux::sensors::canandgyro::CanandgyroSettings::GetYawFramePeriod

(

)

Gets the dedicated yaw frame period in seconds [0..65.535], or std::nullopt if the value has not been set on this object.

A value of 0 means yaw frames are disabled.

Returns

the frame period in seconds [0..65.535], or std::nullopt if the value has not been set on this object.

SetAccelerationFramePeriod()

void redux::sensors::canandgyro::CanandgyroSettings::SetAccelerationFramePeriod

(

units::second_t

period

)

Sets the angular velocity frame period in seconds.

By factory default, acceleration frames are sent every 100 milliseconds (period = 0.100_s). If 0 is passed in, acceleration frames will be disabled and methods returning acceleration data will not return new values.

Parameters

period

the new frame period in seconds [0_s, 65.535_s] inclusive

SetAngularPositionFramePeriod()

void redux::sensors::canandgyro::CanandgyroSettings::SetAngularPositionFramePeriod

(

units::second_t

period

)

Sets the angular position frame period in seconds.

By factory default, angular position frames are sent every 20 milliseconds (period = 0.020_s). If 0 is passed in, angular position frames will be disabled and methods returning angular position data will not return new values.

The one exception is Canandgyro.GetYaw which by default uses the yaw frame instead.

Parameters

period

the new frame period in seconds [0_s, 65.535_s] inclusive

SetAngularVelocityFramePeriod()

void redux::sensors::canandgyro::CanandgyroSettings::SetAngularVelocityFramePeriod

(

units::second_t

period

)

Sets the angular velocity frame period in seconds.

By factory default, angular velocity frames are sent every 100 milliseconds (period = 0.100_s). If 0 is passed in, angular velocity frames will be disabled and methods returning angular velocity data will not return new values.

Parameters

period

the new frame period in seconds [0_s, 65.535_s] inclusive

SetStatusFramePeriod()

void redux::sensors::canandgyro::CanandgyroSettings::SetStatusFramePeriod

(

units::second_t

period

)

Sets the status frame period in seconds.

By factory default, the device will broadcast 10 status messages every second (period=0.1_s).

Parameters

period

the new period for status frames in seconds in range [0.001_s, 16.383_s].

SettingAddresses()

const std::vector< uint8_t > & redux::sensors::canandgyro::CanandgyroSettings::SettingAddresses ( ) const

overridevirtual

Gets the array of settings addresses this settings class records.

Returns

DetailsKey array

Reimplemented from redux::canand::CanandSettings.

SetYawFramePeriod()

void redux::sensors::canandgyro::CanandgyroSettings::SetYawFramePeriod

(

units::second_t

period

)

Sets the dedicated yaw frame period in seconds.

By factory default, yaw frames are sent every 10 milliseconds (period = 0.010_s). If 0 is passed in, yaw frames will be disabled and Canandgyro::getYaw} will not return new values (unless configured to derive yaw from the angular position frame)

Parameters

period

the new frame period in seconds [0_s, 65.535_s] inclusive

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The documentation for this class was generated from the following file:

• src/main/native/include/redux/sensors/canandgyro/CanandgyroSettings.h