Interface to moteus controllers. More...

#include <Pi3HatInterface.h>

Public Member Functions
	Pi3HatInterface (const int can_cpu, const ::mjbots::pi3hat::Pi3Hat::Configuration &pi3hat_config)
	Configure interface and spawn CAN thread. More...

	~Pi3HatInterface ()
	Stop CAN thread.

void	reset (const Dictionary &config) override
	Reset interface. More...

void	observe (Dictionary &observation) const override
	Write actuation-interface observations to dictionary. More...

void	process_action (const Dictionary &action) override
	Process a new action dictionary. More...

void	cycle (std::function< void(const moteus::Output &)> callback) final
	Spin a new communication cycle. More...

const ServoLayout &	servo_layout () const noexcept
	Get servo layout.

const std::map< int, int > &	servo_bus_map () const noexcept
	Map from servo ID to the CAN bus the servo is connected to.

const std::map< int, std::string > &	servo_name_map () const noexcept
	Map from servo ID to joint name.

std::vector< moteus::ServoCommand > &	commands ()
	Get servo commands.

const std::vector< moteus::ServoReply > &	replies () const
	Get servo replies.

moteus::Data &	data ()
	Get joint command-reply data. More...

void	reset_action (Dictionary &action)
	Reset action dictionary to the default action. More...

void	write_position_commands (const Dictionary &action)
	Write position commands from an action dictionary. More...

void	write_stop_commands () noexcept
	Stop all servos. More...

void	observe_imu (Dictionary &observation) const
	Observe IMU measurements. More...

Protected Attributes
moteus::Data	data_
	Pointers to the memory shared with the CAN thread. More...

ImuData	imu_data_
	IMU data.

Detailed Description

Interface to moteus controllers.

Internally it uses a background thread to operate the pi3hat, enabling the main thread to perform work while servo communication is taking place.

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

Public Member Functions