Adding a New Error Case¶

Error cases should be specific and are structured to operate on a single joint’s data.

error_codes.h¶

In the ErrorCodes enum, create a name for your new error case. - This name should be placed below the NO_ERROR case and above the ERROR_CODE_LENGTH case.

error_types.h¶

Create a new error type class (use the other error types as a reference).
The class should inherit from ErrorType and must implement both a check and a handle function.
The check function should: - Return True if your error has occurred. - Return False if it has not.

Note

The check function only has access to the JointData class and is executed for every joint. If your error case requires its own data, add that data to the JointData class (in JointData.h).
The handle function decides what action to take when your error occurs, such as disabling the motors.

error_map.h¶

In error_map.h, add a new key-value pair for your new error case. - Use the following format:
```
{YOUR_ERROR_CASE_NAME_FROM_PART_ONE, new YourErrorTypeNameFromPartTwo()},
```

Done¶

Your new error case will now be: - Checked by the run method in Joint.cpp (applied to the hip, knee, and ankle). - Handled by your handle function when it occurs. - Reported to the app appropriately.