class Feedback

Member values

Member name	Data type	Description
feedback_id	MessageId	MessageId
status_flags	uint32	Status flags (see enum StatusFlags for the rest)
jitter_comm	uint32	Jitter from the communication in μs
position	float32	Position of the actuator (degrees)
velocity	float32	Angular velocity of the actuator (degrees per second)
torque	float32	Torque of the actuator (Newton meter)
current_motor	float32	Current of the motor (Amperes)
voltage	float32	Voltage of the main board in (Volt)
temperature_motor	float32	Motor temperature (average of the three (3) temperatures (degrees Celsius))
temperature_core	float32	Microcontroller temperature in (degrees Celsius)
fault_bank_a	uint32	Bank A Fault (see ActuatorConfig.SafetyIdentifier)
fault_bank_b	uint32	Bank B Fault (see ActuatorConfig.SafetyIdentifier)
warning_bank_a	uint32	Bank A Warning (see ActuatorConfig.SafetyIdentifier)
warning_bank_b	uint32	Bank B Warning (see ActuatorConfig.SafetyIdentifier)

Member functions

Function name	Return type	Input type	Description
has_feedback_id() const	bool	void	Returns true if feedback_id is set.
feedback_id()	const MessageId&	void	Returns the current value of feedback_id. If feedback_id is not set, returns a MessageId with none of its fields set (possibly feedback_id::default_instance()).
mutable_feedback_id()	MessageId *	void	Returns a pointer to the mutable MessageId object that stores the field's value. If the field was not set prior to the call, then the returned MessageId will have none of its fields set (i.e. it will be identical to a newly-allocated MessageId). After calling this, has_feedback_id() will return true and feedback_id() will return a reference to the same instance of MessageId.
clear_feedback_id()	void	void	Clears the value of the field. After calling this, has_feedback_id() will return false and feedback_id() will return the default value.
set_allocated_feedback_id()	void	MessageId *	Sets the MessageId object to the field and frees the previous field value if it exists. If the MessageId pointer is not NULL, the message takes ownership of the allocated MessageId object and has_ MessageId() will return true. Otherwise, if the feedback_id is NULL, the behavior is the same as calling clear_feedback_id().
release_feedback_id()	MessageId *	void	Releases the ownership of the field and returns the pointer of the MessageId object. After calling this, caller takes the ownership of the allocated MessageId object, has_feedback_id() will return false, and feedback_id() will return the default value.
status_flags()	uint32	void	Returns the current value of status_flags. If the status_flags is not set, returns 0.
set_status_flags()	void	uint32	Sets the value of status_flags. After calling this, status_flags() will return value.
clear_status_flags()	void	void	Clears the value of status_flags. After calling this, status_flags() will return 0.
jitter_comm()	uint32	void	Returns the current value of jitter_comm. If the jitter_comm is not set, returns 0.
set_jitter_comm()	void	uint32	Sets the value of jitter_comm. After calling this, jitter_comm() will return value.
clear_jitter_comm()	void	void	Clears the value of jitter_comm. After calling this, jitter_comm() will return 0.
position()	float32	void	Returns the current value of position. If the position is not set, returns 0.
set_position()	void	float32	Sets the value of position. After calling this, position() will return value.
clear_position()	void	void	Clears the value of position. After calling this, position() will return 0.
velocity()	float32	void	Returns the current value of velocity. If the velocity is not set, returns 0.
set_velocity()	void	float32	Sets the value of velocity. After calling this, velocity() will return value.
clear_velocity()	void	void	Clears the value of velocity. After calling this, velocity() will return 0.
torque()	float32	void	Returns the current value of torque. If the torque is not set, returns 0.
set_torque()	void	float32	Sets the value of torque. After calling this, torque() will return value.
clear_torque()	void	void	Clears the value of torque. After calling this, torque() will return 0.
current_motor()	float32	void	Returns the current value of current_motor. If the current_motor is not set, returns 0.
set_current_motor()	void	float32	Sets the value of current_motor. After calling this, current_motor() will return value.
clear_current_motor()	void	void	Clears the value of current_motor. After calling this, current_motor() will return 0.
voltage()	float32	void	Returns the current value of voltage. If the voltage is not set, returns 0.
set_voltage()	void	float32	Sets the value of voltage. After calling this, voltage() will return value.
clear_voltage()	void	void	Clears the value of voltage. After calling this, voltage() will return 0.
temperature_motor()	float32	void	Returns the current value of temperature_motor. If the temperature_motor is not set, returns 0.
set_temperature_motor()	void	float32	Sets the value of temperature_motor. After calling this, temperature_motor() will return value.
clear_temperature_motor()	void	void	Clears the value of temperature_motor. After calling this, temperature_motor() will return 0.
temperature_core()	float32	void	Returns the current value of temperature_core. If the temperature_core is not set, returns 0.
set_temperature_core()	void	float32	Sets the value of temperature_core. After calling this, temperature_core() will return value.
clear_temperature_core()	void	void	Clears the value of temperature_core. After calling this, temperature_core() will return 0.
fault_bank_a()	uint32	void	Returns the current value of fault_bank_a. If the fault_bank_a is not set, returns 0.
set_fault_bank_a()	void	uint32	Sets the value of fault_bank_a. After calling this, fault_bank_a() will return value.
clear_fault_bank_a()	void	void	Clears the value of fault_bank_a. After calling this, fault_bank_a() will return 0.
fault_bank_b()	uint32	void	Returns the current value of fault_bank_b. If the fault_bank_b is not set, returns 0.
set_fault_bank_b()	void	uint32	Sets the value of fault_bank_b. After calling this, fault_bank_b() will return value.
clear_fault_bank_b()	void	void	Clears the value of fault_bank_b. After calling this, fault_bank_b() will return 0.
warning_bank_a()	uint32	void	Returns the current value of warning_bank_a. If the warning_bank_a is not set, returns 0.
set_warning_bank_a()	void	uint32	Sets the value of warning_bank_a. After calling this, warning_bank_a() will return value.
clear_warning_bank_a()	void	void	Clears the value of warning_bank_a. After calling this, warning_bank_a() will return 0.
warning_bank_b()	uint32	void	Returns the current value of warning_bank_b. If the warning_bank_b is not set, returns 0.
set_warning_bank_b()	void	uint32	Sets the value of warning_bank_b. After calling this, warning_bank_b() will return value.
clear_warning_bank_b()	void	void	Clears the value of warning_bank_b. After calling this, warning_bank_b() will return 0.

Parent topic: ActuatorCyclic (C++)