ExoData Class Reference

Class to store all the data related to the exo. More...

#include <ExoData.h>

Collaboration diagram for ExoData:

Public Member Functions
	ExoData (uint8_t *config_to_send)
void	reconfigure (uint8_t *config_to_send)
	reconfigures the the exo data if the configuration changes after constructor called.
template<typename F >
void	for_each_joint (F &&func)
	performs a function for each joint
template<typename F >
void	for_each_joint (F &&func, float *args)
uint8_t	get_used_joints (uint8_t *used_joints)
JointData *	get_joint_with (uint8_t id)
	Get the joint pointer for a joint id.
void	print ()
	Prints all the exo data.
void	set_status (uint16_t status_to_set)
	Set the status object.
uint16_t	get_status (void)
	Get the status object.
void	set_default_parameters ()
	Set the default controller parameters for the current controller. These are the first row in the controller csv file.
void	start_pretrial_cal ()
	Start the pretrial calibration process.

Public Attributes
bool	sync_led_state
bool	estop
float	battery_value
LegData	left_leg
LegData	right_leg
uint32_t	mark
uint8_t *	config
uint8_t	config_len
int	error_code
int	error_joint_id
bool	user_paused

Detailed Description

Class to store all the data related to the exo.

Constructor & Destructor Documentation

ExoData()

ExoData::ExoData

(

uint8_t *

config_to_send

)

Member Function Documentation

for_each_joint() [1/2]

template<typename F >

void ExoData::for_each_joint ( F &&  func )

inline

performs a function for each joint

Parameters

pointer

to the function that should be done for each used joint

for_each_joint() [2/2]

template<typename F >

void ExoData::for_each_joint ( F &&  func, float *  args  )

inline

get_joint_with()

JointData * ExoData::get_joint_with

(

uint8_t

id

)

Get the joint pointer for a joint id.

Parameters

id

Joint id

Returns

JointData* Pointer to JointData class for joint with id

get_status()

uint16_t ExoData::get_status

(

void

)

Get the status object.

Returns

uint16_t status_defs::messages::status_t

get_used_joints()

uint8_t ExoData::get_used_joints

(

uint8_t *

used_joints

)

print()

void ExoData::print

(

)

Prints all the exo data.

reconfigure()

void ExoData::reconfigure

(

uint8_t *

config_to_send

)

reconfigures the the exo data if the configuration changes after constructor called.

Parameters

configuration

array

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set_default_parameters()

void ExoData::set_default_parameters

(

)

Set the default controller parameters for the current controller. These are the first row in the controller csv file.

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set_status()

void ExoData::set_status

(

uint16_t

status_to_set

)

Set the status object.

Parameters

status_to_set

status_defs::messages::status_t

start_pretrial_cal()

void ExoData::start_pretrial_cal

(

)

Start the pretrial calibration process.

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Member Data Documentation

battery_value

float ExoData::battery_value

Could be Voltage or SOC, depending on the battery type

config

uint8_t* ExoData::config

pointer to the configuration array

config_len

uint8_t ExoData::config_len

len of the configuration array

error_code

int ExoData::error_code

current error code for the system

error_joint_id

int ExoData::error_joint_id

estop

bool ExoData::estop

state of the estop

left_leg

LegData ExoData::left_leg

data for the left leg

mark

uint32_t ExoData::mark

used for timing, currently only used by the nano

right_leg

LegData ExoData::right_leg

data for the right leg

sync_led_state

bool ExoData::sync_led_state

state of the sync led

user_paused

bool ExoData::user_paused

if the user has paused the system

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

• ExoCode/src/ExoData.h
• ExoCode/src/ExoData.cpp