MATLAB File Help: GainStruct
  GainStruct can be used to set gains of groups
    The struct created by this function can be used to set a variety of
    gains and control parameters on a group of modules.
    GainStructs can be loaded and saved to an xml file format with 
    functions provided in HebiUtils.
    Empty entries in the struct and NaNs for any individual values in 
    gains or control parmaters are ignored. In these cases any existing 
    setting on the module for that parameter will remain unmodified.  
    The online documentation provides more information about the 
    individual gain settings and control parameters:
    Example (loading gains):
        gains = HebiUtils.loadGains('myGains.xml');
    Example (saving gains)
        gains = group.getGains();
        HebiUtils.saveGains(gains, 'myGains.xml');
    Example (manually setting gains):
        gains = GainStruct()
        gains.controlStrategy = [4 4];
        group.send('gains', gains);
See also