point_one::fusion_engine::messages::HardwareTickConfig Struct Reference

Detailed Description

Hardware wheel tick encoder configuration settings.

Warning

The HardwareTickConfig payload is intended for use on vehicles with a physical voltage signal, generated by a wheel encoder, that produces a series of voltage pulses (encoder ticks) as the vehicle’s wheel rotates. These ticks will be captured by the device on an input pin and used to indicate vehicle speed. For vehicles using software wheel speed/tick information, including data send using FusionEngine messages or a vehicle CAN bus, use WheelConfig instead.

Note

In addition to the wheel tick signal, an optional voltage signal may be provided to indicate vehicle direction. If this signal is not connected, the tick_direction setting MUST be set to OFF otherwise there will be substantial errors in dead reckoning.

See also VehicleTickInput.

Definition at line 1318 of file configuration.h.

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

Public Attributes
TickDirection	tick_direction = TickDirection::OFF
	When direction is TickDirection::OFF, the incoming ticks will be treated as unsigned, meaning the tick count will continue to increase in either direction of travel. More...
TickMode	tick_mode = TickMode::OFF
	If enabled – tick mode is not TickMode::OFF – the device will accumulate ticks received on the I/O pin, and use them as an indication of vehicle speed. More...
float	wheel_ticks_to_m = NAN
	The scale factor to convert from wheel encoder ticks to distance (in meters/tick). More...

Member Data Documentation

tick_direction

TickDirection point_one::fusion_engine::messages::HardwareTickConfig::tick_direction = TickDirection::OFF

When direction is TickDirection::OFF, the incoming ticks will be treated as unsigned, meaning the tick count will continue to increase in either direction of travel.

If direction is not TickDirection::OFF, a second direction I/O pin will be used to indicate the direction of travel and the accumulated tick count will increase/decrease accordingly.

Definition at line 1339 of file configuration.h.

tick_mode

TickMode point_one::fusion_engine::messages::HardwareTickConfig::tick_mode = TickMode::OFF

If enabled – tick mode is not TickMode::OFF – the device will accumulate ticks received on the I/O pin, and use them as an indication of vehicle speed.

If enabled, you must also specify wheel_ticks_to_m to indicate the mapping of wheel tick encoder angle to tire circumference. All other wheel tick-related parameters such as tick capture rate, rollover value, etc. will be set internally.

Warning

Do not enable this feature if a wheel tick voltage signal is not present.

Definition at line 1330 of file configuration.h.

wheel_ticks_to_m

float point_one::fusion_engine::messages::HardwareTickConfig::wheel_ticks_to_m = NAN

The scale factor to convert from wheel encoder ticks to distance (in meters/tick).

Used for WheelSensorType::TICKS.

Definition at line 1347 of file configuration.h.

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

• src/point_one/fusion_engine/messages/configuration.h