WheelTickInput Struct
Differential wheel encoder tick input (MessageType::WHEEL_TICK_INPUT, version 1). More...
Declaration
Included Headers
Base struct
| struct | MessagePayload |
|
The base class for all message payloads. More... | |
Public Member Attributes Index
| MeasurementDetails | details |
|
Measurement timestamp and additional information, if available. More... | |
| uint32_t | front_left_wheel_ticks = 0 |
|
The front left wheel ticks. More... | |
| uint32_t | front_right_wheel_ticks = 0 |
|
The front right wheel ticks. More... | |
| GearType | gear = GearType::UNKNOWN |
|
The transmission gear currently in use, or direction of motion, if available. More... | |
| uint32_t | rear_left_wheel_ticks = 0 |
|
The rear left wheel ticks. More... | |
| uint32_t | rear_right_wheel_ticks = 0 |
|
The rear right wheel ticks. More... | |
Public Static Attributes Index
| static constexpr MessageType | MESSAGE_TYPE = MessageType::WHEEL_TICK_INPUT |
| static constexpr uint8_t | MESSAGE_VERSION = 0 |
Description
Differential wheel encoder tick input (MessageType::WHEEL_TICK_INPUT, version 1).
This message is an input to the device, used to convey the wheel encoder tick counts for one or more wheels. The number and type of wheels expected, and the interpretation of the tick count values, varies by vehicle.
To use wheel encoder data, you must first configure the device by issuing a SetConfigMessage message containing a WheelConfig payload describing the vehicle sensor configuration (tick counts signed/unsigned, etc.).
Some platforms may have an additional signal used to indicate direction of motion, have direction or gear information available from a vehicle CAN bus, etc. If direction/gear information is available, it may be provided in the gear field.
See also RawWheelTickOutput for measurement output.
Definition at line 824 of file measurements.h.
Public Member Attributes
details
|
Measurement timestamp and additional information, if available.
See MeasurementDetails for details.
Definition at line 832 of file measurements.h.
front_left_wheel_ticks
|
The front left wheel ticks.
The interpretation of these ticks is defined outside of this message.
Definition at line 838 of file measurements.h.
front_right_wheel_ticks
|
The front right wheel ticks.
The interpretation of these ticks is defined outside of this message.
Definition at line 844 of file measurements.h.
gear
|
The transmission gear currently in use, or direction of motion, if available.
Set to GearType::FORWARD or GearType::REVERSE where vehicle direction information is available externally.
Definition at line 865 of file measurements.h.
rear_left_wheel_ticks
|
The rear left wheel ticks.
The interpretation of these ticks is defined outside of this message.
Definition at line 850 of file measurements.h.
rear_right_wheel_ticks
|
The rear right wheel ticks.
The interpretation of these ticks is defined outside of this message.
Definition at line 856 of file measurements.h.
Public Static Attributes
MESSAGE_TYPE
| constexpr static |
Definition at line 825 of file measurements.h.
MESSAGE_VERSION
| constexpr static |
Definition at line 826 of file measurements.h.
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