Data structure containing data for commands. More...

#include <command.hpp>

Public Attributes
Name	command

int16_t	speed

int16_t	radius

uint16_t	note

unsigned char	duration

unsigned char	segment_name

uint16_t	request_flags

unsigned char	frame_id

uint16_t	gp_out

unsigned char	type

unsigned int	p_gain

unsigned int	i_gain

unsigned int	d_gain

unsigned char	reserved

Detailed Description

Data structure containing data for commands.

It is important to keep this state as it will have to retain knowledge of the last known command in some instances - e.g. for gp_out commands, quite often the incoming command is only to set the output for a single led while keeping the rest of the current gp_out values as is.

For generating individual commands we modify the data here, then copy the command class (avoid doing mutexes) and spin it off for sending down to the device.

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

/github/workspace/include/kobuki_core/command.hpp

Public Attributes

Detailed Description