MATLAB File Help: FeedbackStruct
FeedbackStruct
  FeedbackStruct shows feedback coming from groups of modules.
 
    Feedback structs are instantiated by various API calls and can't be
    instantiated directly by users. Depending on the requested
    feedback, the returned struct may provide a different 'view' on the
    data, i.e., return a specific subset of sensor feedback and states.
 
    A list of currently available views and their fields is below. You can
    find more detailed information about feedback fields at docs.hebi.us.
 
    'Simple' (Default)
 
                    time [s]
             positionCmd [rad]
             velocityCmd [rad/s]
               effortCmd [Nm|N]
                position [rad]
                velocity [rad/s]
                  effort [Nm|N]
                  accelX [m/s^2]
                  accelY [m/s^2]
                  accelZ [m/s^2]
                   gyroX [rad/s]
                   gyroY [rad/s]
                   gyroZ [rad/s]
            motorCurrent [A]
          windingCurrent [A]
      ambientTemperature [C]
      windingTemperature [C]
                 voltage [V]
 
 
    'Full' ('Simple' with extra states)
 
                      time [s]
                  pcRxTime [s]
                  pcTxTime [s]
                  hwRxTime [s]
                  hwTxTime [s]
                  sequence
                rxSequence
               positionCmd [rad]
               velocityCmd [rad/s]
                 effortCmd [Nm|N]
                    pwmCmd
            innerEffortCmd [Nm|N]
                  position [rad]
                  velocity [rad/s]
                    effort [Nm|N]
                deflection [rad]
             motorPosition [rad]
             motorVelocity [rad/s]
        deflectionVelocity [rad/s]
                    accelX [m/s^2]
                    accelY [m/s^2]
                    accelZ [m/s^2]
                     gyroX [rad/s]
                     gyroY [rad/s]
                     gyroZ [rad/s]
              orientationW
              orientationX
              orientationY
              orientationZ
              motorCurrent [A]
            windingCurrent [A]
          motorTemperature [C]
        ambientTemperature [C]
      processorTemperature [C]
       actuatorTemperature [C]
        windingTemperature [C]
                   voltage [V]
                  pressure [kPa]
          resetButtonState [HebiEnum]
                mStopState [HebiEnum]
          commandLockState [HebiEnum]
          temperatureState [HebiEnum]
        positionLimitState [HebiEnum]
        velocityLimitState [HebiEnum]
          effortLimitState [HebiEnum]
                      ledR [0-1]
                      ledG [0-1]
                      ledB [0-1]
                      ledA [0-1]
 
    'Mobile' (Special view for mobile devices)
 
                       time [s]
                   pcRxTime [s]
                   pcTxTime [s]
                   hwRxTime [s]
                   hwTxTime [s]
                     accelX [m/s^2]
                     accelY [m/s^2]
                     accelZ [m/s^2]
                      gyroX [rad/s]
                      gyroY [rad/s]
                      gyroZ [rad/s]
              magnetometerX [T]
              magnetometerY [T]
              magnetometerZ [T]
                   altitude [m]
               orientationW
               orientationX
               orientationY
               orientationZ
                gpsLatitude [deg]
               gpsLongitude [deg]
                gpsAltitude [m]
                 gpsHeading [deg]
      gpsHorizontalAccuracy [m]
        gpsVerticalAccuracy [m]
               gpsTimestamp [s]
             arOrientationW
             arOrientationX
             arOrientationY
             arOrientationZ
                arPositionX [m]
                arPositionY [m]
                arPositionZ [m]
                  arQuality [HebiEnum]
               batteryLevel [%]
 
 
    'IO' (Special view for IO devices)
 
          time [s]
      pcRxTime [s]
      pcTxTime [s]
      hwRxTime [s]
      hwTxTime [s]
            a1
            a2
            a3
            a4
            a5
            a6
            a7
            a8
            b1
            b2
            b3
            b4
            b5
            b6
            b7
            b8
            c1
            c2
            c3
            c4
            c5
            c6
            c7
            c8
            d1
            d2
            d3
            d4
            d5
            d6
            d7
            d8
            e1
            e2
            e3
            e4
            e5
            e6
            e7
            e8
            f1
            f2
            f3
            f4
            f5
            f6
            f7
            f8 
 
    Examples:
        % Read simple feedback from a group of two dummy modules
        group = HebiUtils.newImitationGroup(2);
        fbk = group.getNextFeedback();
        disp(fbk.time);
 
        % Read feedback from an I/O device
        ioFbk = group.getNextFeedbackIO();
 
        % Simultaneously read I/O and mobile feedback from a mobile device
        ioFbk = group.getNextFeedbackIO();
        mobileFbk = group.getNextFeedbackMobile();
        group.getNextFeedback(ioFbk, mobileFbk); % updates structs passed in
See also