MATLAB File Help: HebiGroup
HebiGroup
  HebiGroup is a collection of one or more modules.
 
    Groups of modules are the basic way to send commands and retrieve
    feedback. They provide convenient ways to deal with modules, and
    handle high-level issues such as data synchronization and logging.
 
    HebiGroup Methods (configuration):
    getNumModules        - returns the number of grouped modules
    setFeedbackFrequency - sets the feedback request rate
    getFeedbackFrequency - gets the feedback request rate
    setCommandLifetime   - sets the command lifetime
    getCommandLifetime   - gets the command lifetime
 
    HebiGroup Methods (common):
    send                 - sends synchronized commands, as well as a
                           number of other settings and parameters
    getNextFeedback      - returns the next new 'simple' feedback
    getNextFeedbackFull  - returns the next new 'full' feedback  
    getNextFeedbackIO    - returns the next new I/O board feedback 
    getInfo              - returns meta information such as names
    getGains             - returns the current gains
    startLog             - starts background logging to disk
    stopLog              - stops logging and returns a readable format
    stopLogFull          - same as above, returning full feedback
    stopLogIO            - same as above, returning I/O feedback
 
    Example
       % 200 Hz loop commanding of the current position
       group.setFeedbackFrequency(200);
       cmd = CommandStruct();
       group.startLog();
       t0 = tic();
       while toc(t0) < 5 
           fbk = group.getNextFeedback();
           cmd.position = fbk.position;
           group.send(cmd);
       end
       log = group.stopLog();
 
       % Plotting the commanded / feedback positions
       plot(log.time, log.position);
       hold on;
       plot(log.time, log.positionCmd, '--');
       hold off;
       xlabel('time (sec)');
       ylabel('position (rad)');
       legend(group.getInfo.name);
See also
Class Details
Superclasses handle
Sealed true
Construct on load false
Method Summary
  get returns a variety of data structs 
  getCommandLifetime returns the current command lifetime [s]. 
  getFeedbackFrequency returns the feedback polling frequency [Hz] 
  getGains returns the current gains 
  getInfo returns meta information such as names 
  getNextFeedback returns the next new synchronized feedback. 
  getNextFeedbackFull is a convenience wrapper for getNextFeedback 
  getNextFeedbackIO is a convenience wrapper for getNextFeedback 
  getNumModules returns the number of modules within a group. 
Sealed   isvalid Test handle validity. 
  send sends commands and settings to modules. 
  setCommandLifetime sets the command lifetime [s]. 
  setFeedbackFrequency sets the feedback polling frequency [Hz] 
  startLog logs incoming feedback data to disk 
  stopLog stops logging and converts the log to a specified format 
  stopLogFull is a convenience wrapper for stopLog 
  stopLogIO is a convenience wrapper for stopLog 
Event Summary
ObjectBeingDestroyed Notifies listeners that a particular object has been destroyed.