motor::roboclaw::RoboClawComm Class Reference

RoboClaw communication class. More...

#include <RoboClaw.h>

Public Member Functions
	RoboClawComm ()
	Default constructor.
	RoboClawComm (std::string &strDevName, int nBaudRate, RoboClawChipSelect *pChipSelect=NULL)
	Initialization constructor. More...
virtual	~RoboClawComm ()
	Destructor.
virtual int	open (std::string &strDevName, int nBaudRate, RoboClawChipSelect *pChipSelect=NULL)
	Open connection to motor controller(s). More...
virtual int	close ()
	Close connection to motor controller. More...
virtual int	flushInput ()
	Flush UART input FIFO. More...
virtual bool	isOpen () const
	Test if connection is open. More...
virtual void	enableDbg (bool bEnDis)
	Test if connection is open. More...
uint_t	getLastCmdCrc ()
	Get last sent command's calculated 16-bit CRC. More...
uint_t	getLastRspCrc ()
	Get last received response's appended 16-bit CRC. More...
virtual int	execCmd (byte_t cmd[], size_t lenCmd)
	Execute a command with no response. More...
virtual int	execCmdWithAckRsp (byte_t cmd[], size_t lenCmd, MsgFmt fmtCmd=MsgWithNoCrc)
	Execute a command with an acknowledgement response. More...
virtual int	execCmdWithDataRsp (byte_t cmd[], size_t lenCmd, byte_t rsp[], size_t lenRsp, MsgFmt fmtCmd=MsgWithNoCrc, MsgFmt fmtRsp=MsgWithCrc)
	Execute a command with an data response. More...
virtual int	sendCmd (byte_t cmd[], size_t lenCmd, MsgFmt fmtCmd=MsgWithNoCrc)
	Send command over serial connection to motor controller. More...
virtual int	recvDataRsp (byte_t rsp[], size_t lenRsp)
	Receive data response over serial connection from motor controller. More...
virtual int	recvAck ()
	Receive acknowledgement response over serial connection from motor controller. More...
int	pack16 (uint_t val, byte_t buf[])
	Pack 16-bit unsigned value into buffer. More...
int	unpack16 (byte_t buf[], uint_t &val)
	Unpack 16-bit unsigned value from buffer. More...
int	pack16 (int val, byte_t buf[])
	Pack 16-bit signed value into buffer. More...
int	unpack16 (byte_t buf[], int &val)
	Unpack 16-bit signed value from buffer. More...
int	pack32 (uint_t val, byte_t buf[])
	Pack 32-bit unsigned value into buffer. More...
int	unpack32 (byte_t buf[], uint_t &val)
	Unpack 32-bit unsigned value from buffer. More...
int	pack32 (int val, byte_t buf[])
	Pack 32-bit signed value into buffer. More...
int	unpack32 (byte_t buf[], int &val)
	Unpack 32-bit signed value from buffer. More...
virtual byte_t	checksum (byte_t buf[], size_t lenBuf, bool bAck=false)
	Calculate 7-bit checksum over buffer. More...
virtual uint_t	crc16 (uint_t crc, byte_t buf[], size_t lenBuf)
	Calculate 16-bit CRC over buffer. More...

Protected Attributes
std::string	m_strDevName
	serial device name
int	m_nBaudRate
	serial baud rate
int	m_fd
	opened file descriptor
RoboClawChipSelect *	m_pChipSelect
	motor ctlr select object
uint_t	m_uCrcCmd
	last sent command's CRC
uint_t	m_uCrcRsp
	last received response's CRC
bool	m_bDbgEnable
	do [not] enable debugging

Detailed Description

RoboClaw communication class.

The RoboClaw class instances bind to this class.

Definition at line 487 of file RoboClaw.h.

Constructor & Destructor Documentation

RoboClawComm::RoboClawComm	(	std::string &	strDevName,
		int	nBaudRate,
		RoboClawChipSelect *	pChipSelect = NULL
	)

Initialization constructor.

Parameters

strDevName	Serial device name.
nBaudRate	Serial device baud rate.
pChipSelect	(Derived) motor controller selection class object.

Definition at line 217 of file RoboClaw.cxx.

{
  close();
}

int RoboClawComm::open(std::string        &strDevName,
                       int                 nBaudRate,
                       RoboClawChipSelect *pChipSelect)
{
  m_fd = SerDevOpen(strDevName.c_str(), nBaudRate, 8, 'N', 1, false, false);

Member Function Documentation

byte_t RoboClawComm::checksum ( byte_t  buf[], size_t  lenBuf, bool  bAck = false  )

virtual

Calculate 7-bit checksum over buffer.

Note

For FW versions < 4.0

Parameters

[in]	buf	Buffer holding command/response.
	lenBuf	Length of data in buffer (bytes).
	bAck	If true, or-in request ack bit to checksum (commands only).

Returns

Checksum byte.

Definition at line 517 of file RoboClaw.cxx.

  {
    chksum |= AckReqBit;
  }

  return chksum;
}

uint_t RoboClawComm::crc16(uint_t crc, byte_t buf[], size_t lenBuf)
{
  size_t  i;
  size_t  bit;

  for(i = 0; i < lenBuf; ++i)
  {
    crc = crc ^ ((uint_t)buf[i] << 8);

    for(bit = 0; bit < 8; ++bit)

int RoboClawComm::close ( )

virtual

Close connection to motor controller.

Definition at line 258 of file RoboClaw.cxx.

Referenced by Laelaps.WatchDog.WatchDog::attach(), and Laelaps.WatchDog.WatchDog::open().

{
  SerDevFIFOInputFlush(m_fd);
}

int RoboClawComm::execCmd(byte_t cmd[], size_t lenCmd)
{
  int   rc;

  LOGWARN("Motor controller 0x%02x: execCmd() function is deprecated.");

uint_t RoboClawComm::crc16 ( uint_t  crc, byte_t  buf[], size_t  lenBuf  )

virtual

Calculate 16-bit CRC over buffer.

Parameters

	crc	CRC starting seed value.
[in]	buf	Buffer.
	lenbuf	Length of data in buffer (bytes).

Returns

Returns calculated 16-bit CRC over buffer.

Definition at line 538 of file RoboClaw.cxx.

Referenced by Laelaps.RoboClaw.RoboClaw::execCmdWithAckRsp(), Laelaps.RoboClaw.RoboClaw::execCmdWithDataRsp(), and Laelaps.RoboClaw.RoboClaw::readVersion().

      {
        crc = (crc << 1) ^ 0x1021;
      }
      else
      {
        crc = crc << 1;
      }
    }
  }
  return crc & 0xffff;
}


//-----------------------------------------------------------------------------
// Class RoboClaw
//-----------------------------------------------------------------------------

RoboClaw::RoboClaw(RoboClawComm &comm,
                   const byte_t address,
                   const string &strNameId) :
    m_comm(comm), m_address(address), m_strNameId(strNameId)
{

virtual void motor::roboclaw::RoboClawComm::enableDbg ( bool  bEnDis )

inlinevirtual

Test if connection is open.

Parameters

bEnDis

Enable/disable debugging.

Definition at line 555 of file RoboClaw.h.

      {
        m_bDbgEnable = bEnDis;
      }

int RoboClawComm::execCmd ( byte_t  cmd[], size_t  lenCmd  )

virtual

Execute a command with no response.

Note

Deprecated.

Parameters

[in]	cmd	Packed command buffer.
	lenCmd	Length of command (bytes).

Definition at line 281 of file RoboClaw.cxx.

{
  int   rc;

  if( (rc = sendCmd(cmd, lenCmd, fmtCmd)) == OK )
  {
    if( (rc = recvAck()) != OK )
    {
      LOGERROR("Motor controller 0x%02x: Failed to receive ack for command %u.",
        cmd[FieldPosAddr], cmd[FieldPosCmd]);

int RoboClawComm::execCmdWithAckRsp ( byte_t  cmd[], size_t  lenCmd, MsgFmt  fmtCmd = MsgWithNoCrc  )

virtual

Execute a command with an acknowledgement response.

Parameters

[in]	cmd	Packed command buffer.
	lenCmd	Length of command (bytes).
	fmtCmd	Command format. Do [not] append command with a 16-bit CRC. If included, the command buffer must be of length ≥ lenCmd+2.

Definition at line 297 of file RoboClaw.cxx.

Referenced by Laelaps.RoboClaw.RoboClaw::BackwardMixed(), Laelaps.RoboClaw.RoboClaw::DriveM1(), Laelaps.RoboClaw.RoboClaw::DriveM2(), Laelaps.RoboClaw.RoboClaw::DriveMixed(), Laelaps.RoboClaw.RoboClaw::ForwardMixed(), Laelaps.RoboClaw.RoboClaw::LeftMixed(), Laelaps.RoboClaw.RoboClaw::M1Backward(), Laelaps.RoboClaw.RoboClaw::M1Forward(), Laelaps.RoboClaw.RoboClaw::M2Backward(), Laelaps.RoboClaw.RoboClaw::M2Forward(), Laelaps.RoboClaw.RoboClaw::resetEncoderCnts(), Laelaps.RoboClaw.RoboClaw::RightMixed(), Laelaps.RoboClaw.RoboClaw::setLogicBatterySettings(), Laelaps.RoboClaw.RoboClaw::setM1Duty(), Laelaps.RoboClaw.RoboClaw::setM1DutyAccel(), Laelaps.RoboClaw.RoboClaw::setM1EncoderMode(), Laelaps.RoboClaw.RoboClaw::setM1MaxCurrentLimit(), Laelaps.RoboClaw.RoboClaw::setM1Pidq(), Laelaps.RoboClaw.RoboClaw::setM1PositionConstants(), Laelaps.RoboClaw.RoboClaw::setM1Speed(), Laelaps.RoboClaw.RoboClaw::setM1SpeedAccel(), Laelaps.RoboClaw.RoboClaw::setM1SpeedAccelDeccelPosition(), Laelaps.RoboClaw.RoboClaw::setM1SpeedAccelDistance(), Laelaps.RoboClaw.RoboClaw::setM1SpeedDistance(), Laelaps.RoboClaw.RoboClaw::setM2Duty(), Laelaps.RoboClaw.RoboClaw::setM2DutyAccel(), Laelaps.RoboClaw.RoboClaw::setM2EncoderMode(), Laelaps.RoboClaw.RoboClaw::setM2MaxCurrentLimit(), Laelaps.RoboClaw.RoboClaw::setM2Pidq(), Laelaps.RoboClaw.RoboClaw::setM2PositionConstants(), Laelaps.RoboClaw.RoboClaw::setM2Speed(), Laelaps.RoboClaw.RoboClaw::setM2SpeedAccel(), Laelaps.RoboClaw.RoboClaw::setM2SpeedAccelDeccelPosition(), Laelaps.RoboClaw.RoboClaw::setM2SpeedAccelDistance(), Laelaps.RoboClaw.RoboClaw::setM2SpeedDistance(), Laelaps.RoboClaw.RoboClaw::setMainBatterySettings(), Laelaps.RoboClaw.RoboClaw::setMaxMainBattery(), Laelaps.RoboClaw.RoboClaw::setMinMainBattery(), Laelaps.RoboClaw.RoboClaw::setMixedDuty(), Laelaps.RoboClaw.RoboClaw::setMixedDutyAccel(), Laelaps.RoboClaw.RoboClaw::setMixedSpeed(), Laelaps.RoboClaw.RoboClaw::setMixedSpeedAccel(), Laelaps.RoboClaw.RoboClaw::setMixedSpeedAccelDeccelPosition(), Laelaps.RoboClaw.RoboClaw::setMixedSpeedAccelDistance(), Laelaps.RoboClaw.RoboClaw::setMixedSpeedDistance(), Laelaps.RoboClaw.RoboClaw::setMixedSpeedIAccel(), Laelaps.RoboClaw.RoboClaw::setMixedSpeedIAccelDistance(), Laelaps.RoboClaw.RoboClaw::TurnMixed(), and Laelaps.RoboClaw.RoboClaw::writeSettings().

  {
    LOGERROR("Motor controller 0x%02x: Failed to send command %u.",
        cmd[FieldPosAddr], cmd[FieldPosCmd]);
    rc = RC_ERROR;
  }

  if( rc == RC_ERROR )
  {
    flushInput();
  }

  return rc;
}

int RoboClawComm::execCmdWithDataRsp(byte_t cmd[],  size_t lenCmd,
                                     byte_t rsp[],  size_t lenRsp,
                                     MsgFmt fmtCmd, MsgFmt fmtRsp)
{
  uint_t  uCrcCalc;
  int     n;
  int     rc;

  if( (rc = sendCmd(cmd, lenCmd, fmtCmd)) == OK )
  {

int RoboClawComm::execCmdWithDataRsp ( byte_t  cmd[], size_t  lenCmd, byte_t  rsp[], size_t  lenRsp, MsgFmt  fmtCmd = MsgWithNoCrc, MsgFmt  fmtRsp = MsgWithCrc  )

virtual

Execute a command with an data response.

Parameters

[in]	cmd	Packed command buffer.
	lenCmd	Length of command (bytes).
[out]	rsp	Response buffer.
	lenRsp	Expected length of packed response (bytes).
	fmtCmd	Command format. Do [not] append command with a 16-bit CRC. If included, the command buffer must be of length ≥ lenCmd+2.
	fmtRsp	Response format. Response has with a 16-bit CRC. If ignore, firmware bug.

Definition at line 325 of file RoboClaw.cxx.

References motor::roboclaw::MsgWithCrc.

Referenced by Laelaps.RoboClaw.RoboClaw::readBufferCnts(), Laelaps.RoboClaw.RoboClaw::readCurrents(), Laelaps.RoboClaw.RoboClaw::readEncoderMode(), Laelaps.RoboClaw.RoboClaw::readLogicBattery(), Laelaps.RoboClaw.RoboClaw::readLogicBatterySettings(), Laelaps.RoboClaw.RoboClaw::readM1Encoder(), Laelaps.RoboClaw.RoboClaw::readM1instspeed(), Laelaps.RoboClaw.RoboClaw::readM1MaxCurrentLimit(), Laelaps.RoboClaw.RoboClaw::readM1Pidq(), Laelaps.RoboClaw.RoboClaw::readM1PositionConstants(), Laelaps.RoboClaw.RoboClaw::readM1Speed(), Laelaps.RoboClaw.RoboClaw::readM2Encoder(), Laelaps.RoboClaw.RoboClaw::readM2instspeed(), Laelaps.RoboClaw.RoboClaw::readM2MaxCurrentLimit(), Laelaps.RoboClaw.RoboClaw::readM2Pidq(), Laelaps.RoboClaw.RoboClaw::readM2PositionConstants(), Laelaps.RoboClaw.RoboClaw::readM2Speed(), Laelaps.RoboClaw.RoboClaw::readMainBattery(), Laelaps.RoboClaw.RoboClaw::readMainBatterySettings(), Laelaps.RoboClaw.RoboClaw::readStatus(), and Laelaps.RoboClaw.RoboClaw::readTemperature().

    {
      if( fmtRsp == MsgWithCrc )
      {
        uCrcCalc = crc16(m_uCrcCmd, rsp, lenRsp-2);
        if( m_uCrcRsp != uCrcCalc )
        {
          LOGERROR("Motor controller 0x%02x: "
            "Command %u response CRC-16 mismatch: "
            "Expected 0x%04x, received 0x%04x.",
            cmd[FieldPosAddr], cmd[FieldPosCmd],
            uCrcCalc, m_uCrcRsp);
          rc = RC_ERROR;
        }
      }
    }
    else if( n > 0 )
    {
      LOGWARN("Motor controller 0x%02x: "
          "Command %u received partial response of %d/%zu bytes - ignoring.",
            cmd[FieldPosAddr], cmd[FieldPosCmd], n, lenRsp);
      rc = RC_ERROR;
    }
    else
    {
      LOGERROR("Motor controller 0x%02x: Command %u received no response.",
            cmd[FieldPosAddr], cmd[FieldPosCmd]);
      rc = RC_ERROR;
    }
  }
  else
  {
    LOGERROR("Motor controller 0x%02x: Failed to send command %u.",
            cmd[FieldPosAddr], cmd[FieldPosCmd]);
    rc = RC_ERROR;
  }

  if( rc == RC_ERROR )
  {
    flushInput();
  }

  return rc;
}

int RoboClawComm::sendCmd(byte_t cmd[], size_t lenCmd, MsgFmt fmtCmd)
{
  m_pChipSelect->select(m_fd, cmd[FieldPosAddr]);

  // command's CRC
  m_uCrcCmd = crc16(0, cmd, lenCmd);

  // append CRC
  if( fmtCmd == MsgWithCrc )
  {

int RoboClawComm::flushInput ( )

virtual

Flush UART input FIFO.

Definition at line 276 of file RoboClaw.cxx.

  {
    LOGERROR("Motor controller 0x%02x: Failed to send command %u.",
        cmd[FieldPosAddr], cmd[FieldPosCmd]);

uint_t motor::roboclaw::RoboClawComm::getLastCmdCrc ( )

inline

Get last sent command's calculated 16-bit CRC.

Returns

Returns CRC.

Definition at line 565 of file RoboClaw.h.

      {
        return m_uCrcCmd;
      }

uint_t motor::roboclaw::RoboClawComm::getLastRspCrc ( )

inline

Get last received response's appended 16-bit CRC.

Returns

Returns CRC.

Definition at line 575 of file RoboClaw.h.

References motor::roboclaw::MsgWithCrc, and motor::roboclaw::MsgWithNoCrc.

      {
        return m_uCrcRsp;
      }

virtual bool motor::roboclaw::RoboClawComm::isOpen ( ) const

inlinevirtual

Test if connection is open.

Returns

Returns true or false.

Definition at line 545 of file RoboClaw.h.

Referenced by Laelaps.WatchDog.WatchDog::cmdConfigDPin(), Laelaps.WatchDog.WatchDog::cmdEnableAuxPort5V(), Laelaps.WatchDog.WatchDog::cmdEnableAuxPortBatt(), Laelaps.WatchDog.WatchDog::cmdEnableMotorCtlrs(), Laelaps.WatchDog.WatchDog::cmdGetFwVersion(), Laelaps.WatchDog.WatchDog::cmdPetTheDog(), Laelaps.WatchDog.WatchDog::cmdReadAPin(), Laelaps.WatchDog.WatchDog::cmdReadDPin(), Laelaps.WatchDog.WatchDog::cmdReadEnables(), Laelaps.WatchDog.WatchDog::cmdReadVoltages(), Laelaps.WatchDog.WatchDog::cmdResetRgbLed(), Laelaps.WatchDog.WatchDog::cmdSetAlarms(), Laelaps.WatchDog.WatchDog::cmdSetBatterySoC(), Laelaps.WatchDog.WatchDog::cmdSetRgbLed(), Laelaps.WatchDog.WatchDog::cmdWriteDPin(), and laelaps::LaeKinematics::isOpen().

      {
        return m_fd >= 0? true: false;
      }

int RoboClawComm::open ( std::string &  strDevName, int  nBaudRate, RoboClawChipSelect *  pChipSelect = NULL  )

virtual

Open connection to motor controller(s).

Parameters

strDevName	Serial device name.
nBaudRate	Serial device baud rate.
pChipSelect	(Derived) motor controller selection class object.

Definition at line 234 of file RoboClaw.cxx.

                                              : pChipSelect;

  LOGDIAG3("Opened interface to RoboClaw motor controller %s@%d.",
      strDevName.c_str(), nBaudRate);

  return OK;
}

int RoboClawComm::close()
{
  if( m_fd >= 0 )
  {
    SerDevClose(m_fd);
    LOGDIAG3("Closed %s interface to RoboClaw motor controller.", 
        m_strDevName.c_str());
  }

  m_strDevName.clear();

int RoboClawComm::pack16	(	uint_t	val,
		byte_t	buf[]
	)

Pack 16-bit unsigned value into buffer.

Order is big-endian (MSB first).

Parameters

[in]	val	Value to pack.
[out]	buf	Destination buffer.

Returns

Number of bytes packed(2).

Definition at line 463 of file RoboClaw.cxx.

{
  s16_t v;

int motor::roboclaw::RoboClawComm::pack16 ( int  val, byte_t  buf[]  )

inline

Pack 16-bit signed value into buffer.

Order is big-endian (MSB first).

Parameters

[in]	val	Value to pack.
[out]	buf	Destination buffer.

Returns

Number of bytes packed(2).

Definition at line 693 of file RoboClaw.h.

      {
        return pack16((uint_t)val, buf);
      }

int RoboClawComm::pack32	(	uint_t	val,
		byte_t	buf[]
	)

Pack 32-bit unsigned value into buffer.

Order is big-endian (MSB first).

Parameters

[in]	val	Value to pack.
[out]	buf	Destination buffer.

Returns

Number of bytes packed(4).

Definition at line 486 of file RoboClaw.cxx.

{

int motor::roboclaw::RoboClawComm::pack32 ( int  val, byte_t  buf[]  )

inline

Pack 32-bit signed value into buffer.

Order is big-endian (MSB first).

Parameters

[in]	val	Value to pack.
[out]	buf	Destination buffer.

Returns

Number of bytes packed(4).

Definition at line 744 of file RoboClaw.h.

      {
        return pack32((uint_t)val, buf);
      }

int RoboClawComm::recvAck ( )

virtual

Receive acknowledgement response over serial connection from motor controller.

Definition at line 436 of file RoboClaw.cxx.

References ROBOCLAW_DBG_BUF.

  {
    ROBOCLAW_DBG_BUF((&ack), n, "recvAck(): ");
  }

  if( ack != RspAck )
  {
    return RC_ERROR;
  }
  else
  {
    return OK;
  }
}

int RoboClawComm::pack16(uint_t val, byte_t buf[])
{
  buf[0] = (byte_t)((val >> 8) & 0xff);
  buf[1] = (byte_t)(val & 0xff);
  return 2;
}

int RoboClawComm::unpack16(byte_t buf[], uint_t &val)
{
  val = ((uint_t)(buf[0]) << 8) | (uint_t)buf[1];

int RoboClawComm::recvDataRsp ( byte_t  rsp[], size_t  lenRsp  )

virtual

Receive data response over serial connection from motor controller.

Parameters

[out]	rsp	Response buffer.
	lenRsp	Expected length of packed response (bytes).

Returns

Number of bytes received or -1 on error.

Definition at line 411 of file RoboClaw.cxx.

References ROBOCLAW_DBG_BUF.

    {
      ROBOCLAW_DBG_BUF(rsp, n, "recvDataRsp(): ");
    }

    return (int)n;
  }
  else
  {
    return RC_ERROR;
  }
}

int RoboClawComm::recvAck()
{
  ssize_t n;
  byte_t  ack;

  n = SerDevRead(m_fd, &ack, 1, RspTimeout);

  if( n != 1 )
  {
    return RC_ERROR;

int RoboClawComm::sendCmd ( byte_t  cmd[], size_t  lenCmd, MsgFmt  fmtCmd = MsgWithNoCrc  )

virtual

Send command over serial connection to motor controller.

Parameters

[in]	cmd	Packed command buffer.
	lenCmd	Length of command (bytes).
	fmtCmd	Command format. Do [not] append command with a 16-bit CRC. If included, the command buffer must be of length ≥ lenCmd+2.

Definition at line 380 of file RoboClaw.cxx.

References ROBOCLAW_DBG_BUF.

Referenced by Laelaps.Imu.Imu::unpackS32().

  {
    ROBOCLAW_DBG_BUF(cmd, lenCmd,
        "Motor controller=0x%02x: Cmd=%d: CRC=0x%04x: sendCmd(): ",
        cmd[FieldPosAddr], cmd[FieldPosCmd], m_uCrcCmd);
  }

  if( SerDevWrite(m_fd, cmd, lenCmd, CmdTimeout) == lenCmd )
  {
    return OK;
  }
  else
  {
    return RC_ERROR;
  }
}

int RoboClawComm::recvDataRsp(byte_t rsp[], size_t lenRsp)
{
  ssize_t   n;

  if( (n = SerDevRead(m_fd, rsp, lenRsp, RspTimeout)) >= 0 )
  {
    // last two bytes are the 16-bit crc
    if( n >= 2 )
    {
      unpack16(&rsp[n-2], m_uCrcRsp);

int RoboClawComm::unpack16	(	byte_t	buf[],
		uint_t &	val
	)

Unpack 16-bit unsigned value from buffer.

Buffer is big-endian (MSB first).

Parameters

[in]	buf	Source buffer.
[out]	val	Unpacked value.

Returns

Number of bytes unpacked(2).

Definition at line 470 of file RoboClaw.cxx.

int RoboClawComm::unpack16	(	byte_t	buf[],
		int &	val
	)

Unpack 16-bit signed value from buffer.

Buffer is big-endian (MSB first).

Parameters

[in]	buf	Source buffer.
[out]	val	Unpacked value.

Returns

Number of bytes unpacked(2).

Definition at line 476 of file RoboClaw.cxx.

{
  buf[0] = (byte_t)((val >> 24) & 0xff);
  buf[1] = (byte_t)((val >> 16) & 0xff);
  buf[2] = (byte_t)((val >>  8) & 0xff);
  buf[3] = (byte_t)(val & 0xff);
  return 4;
}

int RoboClawComm::unpack32(byte_t buf[], uint_t &val)

int RoboClawComm::unpack32	(	byte_t	buf[],
		uint_t &	val
	)

Unpack 32-bit unsigned value from buffer.

Buffer is big-endian (MSB first).

Parameters

[in]	buf	Source buffer.
[out]	val	Unpacked value.

Returns

Number of bytes unpacked(4).

Definition at line 495 of file RoboClaw.cxx.

int RoboClawComm::unpack32	(	byte_t	buf[],
		int &	val
	)

Unpack 32-bit signed value from buffer.

Buffer is big-endian (MSB first).

Parameters

[in]	buf	Source buffer.
[out]	val	Unpacked value.

Returns

Number of bytes unpacked(4).

Definition at line 504 of file RoboClaw.cxx.

{
  uint_t  sum;
  byte_t  chksum;
  size_t  i;

  for(i=0, sum=0; i<lenBuf; ++i)
  {
    sum += (uint_t)buf[i];
  }

---

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

• include/Laelaps/RoboClaw.h
• sw/liblaelaps/RoboClaw.cxx