Fawkes API  Fawkes Development Version
fawkes::MotorInterface::MotorInterface_data_t Struct Reference

Internal data storage, do NOT modify! More...

List of all members.

Public Attributes

int64_t timestamp_sec
 Interface Unix timestamp, seconds.
int64_t timestamp_usec
 Interface Unix timestamp, micro-seconds.
uint32_t motor_state
 The current state of the motor.
uint32_t drive_mode
 The current drive mode of the motor.
int32_t right_rpm
 RPM of the motor on the right front of the robot.
int32_t rear_rpm
 RPM of motor on the rear of the robot.
int32_t left_rpm
 RPM of the motor on the left front of the robot.
float odometry_path_length
 The actual length of the robot's trajectory since the last ResetOdometry.
float odometry_position_x
 The actual position of the robot relative to the position at the last ResetOdometry.
float odometry_position_y
 The actual position of the robot relative to the position at the last ResetOdometry.
float odometry_orientation
 The actual orientation of the robot relative to the orientation at the last ResetOdometry.
float vx
 VX of the robot in m/s.
float vy
 VY of the robot in m/s.
float omega
 Rotation speed of the robot in rad/s.
uint32_t controller
 The ID of the controller.
char controller_thread_name [64]
 The name of the controlling thread, for easier debugging.

Detailed Description

Internal data storage, do NOT modify!


Member Data Documentation

The ID of the controller.

The controller ID is the instance serial of the sending interface. Only from this interface instance command messages are accepted.

Definition at line 91 of file MotorInterface.h.

Referenced by fawkes::MotorInterface::AcquireControlMessage::controller(), and fawkes::MotorInterface::AcquireControlMessage::set_controller().

The name of the controlling thread, for easier debugging.

This is informative only and actually two threads may share an interface instance (although this should be avoided since the interface locking has to be reproduced for these threads then).

Definition at line 95 of file MotorInterface.h.

Referenced by fawkes::MotorInterface::AcquireControlMessage::controller_thread_name(), and fawkes::MotorInterface::AcquireControlMessage::set_controller_thread_name().

The current drive mode of the motor.

Definition at line 58 of file MotorInterface.h.

RPM of the motor on the left front of the robot.

Definition at line 67 of file MotorInterface.h.

The actual orientation of the robot relative to the orientation at the last ResetOdometry.

Definition at line 79 of file MotorInterface.h.

The actual length of the robot's trajectory since the last ResetOdometry.

Definition at line 70 of file MotorInterface.h.

The actual position of the robot relative to the position at the last ResetOdometry.

Definition at line 73 of file MotorInterface.h.

The actual position of the robot relative to the position at the last ResetOdometry.

Definition at line 76 of file MotorInterface.h.

RPM of motor on the rear of the robot.

Definition at line 64 of file MotorInterface.h.

RPM of the motor on the right front of the robot.

Definition at line 61 of file MotorInterface.h.

Interface Unix timestamp, seconds.

Definition at line 53 of file MotorInterface.h.

Interface Unix timestamp, micro-seconds.

Definition at line 54 of file MotorInterface.h.


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