Detailed Description

Single wheel encoder tick input, representing vehicle body speed (MessageType::VEHICLE_TICK_INPUT, version 1.0).

This message is an input to the device, used to convey a single wheel encoder tick count representing the along-track speed of the vehicle (forward/backward). Tick data may be received through software (e.g., vehicle CAN bus) or captured in hardware from external voltage pulses.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 either a WheelConfig payload (software source) or HardwareTickConfig payload (hardware voltage) describing the vehicle sensor configuration (tick counts signed/unsigned, etc.).

Some platforms may have an additional voltage 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 RawVehicleTickOutput for measurement output.

Definition at line 962 of file measurements.h.

Inheritance diagram for point_one::fusion_engine::messages::VehicleTickInput:

#include <point_one/fusion_engine/messages/measurements.h>

Public Attributes
MeasurementDetails	details
	Measurement timestamp and additional information, if available. More...

GearType	gear = GearType::UNKNOWN
	The transmission gear currently in use, or direction of motion, if available. More...

uint32_t	tick_count = 0
	The current encoder tick count. More...

Static Public Attributes
static constexpr MessageType	MESSAGE_TYPE = MessageType::VEHICLE_TICK_INPUT

static constexpr uint8_t	MESSAGE_VERSION = 0

Member Data Documentation

◆ details

MeasurementDetails point_one::fusion_engine::messages::VehicleTickInput::details

Measurement timestamp and additional information, if available.

See MeasurementDetails for details.

Definition at line 970 of file measurements.h.

◆ gear

GearType point_one::fusion_engine::messages::VehicleTickInput::gear = GearType::UNKNOWN

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 985 of file measurements.h.

◆ MESSAGE_TYPE

constexpr MessageType point_one::fusion_engine::messages::VehicleTickInput::MESSAGE_TYPE = MessageType::VEHICLE_TICK_INPUT

staticconstexpr

Definition at line 963 of file measurements.h.

◆ MESSAGE_VERSION

constexpr uint8_t point_one::fusion_engine::messages::VehicleTickInput::MESSAGE_VERSION = 0

staticconstexpr

Definition at line 964 of file measurements.h.

◆ tick_count

uint32_t point_one::fusion_engine::messages::VehicleTickInput::tick_count = 0

The current encoder tick count.

The interpretation of these ticks is defined outside of this message.

Definition at line 976 of file measurements.h.

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

src/point_one/fusion_engine/messages/measurements.h