WriteCanFrame Class Reference

Writer for CAN frame data in the moteus protocol. More...

#include <protocol.h>

Public Member Functions
	WriteCanFrame (CanFrame *frame)
	Construct writer from a CAN frame.
	WriteCanFrame (uint8_t *data, uint8_t *size)
	Construct writer from raw data buffer and size pointer.
template<typename T , typename X >
void	Write (X value_in)
	Write a value to the CAN frame buffer, casting it to type T.
void	WriteMapped (double value, double int8_scale, double int16_scale, double int32_scale, Resolution res)
	Write a scaled value based on its resolution type. More...
void	WritePosition (double value, Resolution res)
	Write a position value with appropriate scaling.
void	WriteVelocity (double value, Resolution res)
	Write a velocity value with appropriate scaling.
void	WriteTorque (double value, Resolution res)
	Write a torque value with appropriate scaling.
void	WritePwm (double value, Resolution res)
	Write a PWM value with appropriate scaling.
void	WriteVoltage (double value, Resolution res)
	Write a voltage value with appropriate scaling.
void	WriteTemperature (float value, Resolution res)
	Write a temperature value with appropriate scaling.
void	WriteTime (float value, Resolution res)
	Write a time value with appropriate scaling.

Detailed Description

Writer for CAN frame data in the moteus protocol.

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

• upkie/cpp/interfaces/moteus/protocol.h