OHMMDrive

java.lang.Object
- ohmm.OHMM
- - ohmm.OHMMDrive

Direct Known Subclasses:

OHMMSite
```
public class OHMMDrive
extends OHMM
```
OHMM high level processor lib with extensions for the drive module.

Author:

Marsette A. Vona

Nested Class Summary

Nested Classes
Modifier and Type	Class and Description
`class`	`OHMMDrive.AllStateDrive` state data structure for `OHMM.allState(ohmm.OHMM.AllState)`
`class`	`OHMMDrive.DriveState` state data structure for `driveState(ohmm.OHMMDrive.DriveState)`

Nested classes/interfaces inherited from class ohmm.OHMM
OHMM.AllState, OHMM.AnalogChannel, OHMM.ArmState, OHMM.AXReg, OHMM.AXState, OHMM.BatState, OHMM.DigitalPin, OHMM.MotState, OHMM.OHMMState, OHMM.SenseState, OHMM.TaskState

Field Summary

Fields
Modifier and Type	Field and Description
`static int`	`DRIVE_CFG_INDEX_B` float index for `driveGetCfg(float[])`
`static int`	`DRIVE_CFG_INDEX_MA` float index for `driveGetCfg(float[])`
`static int`	`DRIVE_CFG_INDEX_MS` float index for `driveGetCfg(float[])`
`static int`	`DRIVE_CFG_INDEX_R` float index for `driveGetCfg(float[])`
`static int`	`DRIVE_CFG_INDEX_TOL` float index for `driveGetCfg(float[])`
`static int`	`DRIVE_CFG_LEN` max cfg floats for `driveGetCfg(float[])`
`static int`	`DRIVE_ERR_ODOM` status flag for `OHMM.status(int[])`
`static int`	`DRIVE_ERR_TIMEOUT` status flag for `OHMM.status(int[])`
`static int`	`STATUS_INDEX_ARM` status index for `OHMM.status(int[])`
`static int`	`STATUS_INDEX_DRIVE` status index for `OHMM.status(int[])`
`static int`	`STATUS_LEN` num bytes for `OHMM.status(int[])`, see `getStatusLength()`
`private static java.lang.String`	`svnid`
`static Version`	`VERSION` Version info for the OHMM hlp library.

Fields inherited from class ohmm.OHMM
ARM_ACTIVE, ARM_AT_GOAL, ARM_ELBOW, ARM_ERR_AX, ARM_FREEZE_CAL, ARM_GRIPPER, ARM_SHOULDER, ARM_WRIST, avgRecvWait, avgSendWait, AX_ERR_ANGLE_LIMIT, AX_ERR_CHECKSUM, AX_ERR_INSTRUCTION, AX_ERR_OVERHEATING, AX_ERR_OVERLOAD, AX_ERR_RANGE, AX_ERR_TIMEOUT, AX_ERR_TRANSACTION, AX_ERR_VOLTAGE, AX_ID_BCAST, bytesReceived, bytesSent, CMD_NAME_MAX, codes, commandDelay, debug, DEF_COMMAND_DELAY, DEF_PROCESS_INIT_WAIT, DEF_RECV_POLL_TIME, DEF_TIMEOUT_FILE, DEF_TIMEOUT_PROXY, DEF_TIMEOUT_RXTX, DF2, DF4, errorHandler, flushBuf, flushNext, HLP_ERR_RECV, HLP_ERR_SEND, INIT_DELAY, INITIAL_FLUSH_BUF_LEN, istream, LCD_WIDTH, LEFT, maxRecvWait, maxSendWait, minRecvWait, minSendWait, MOT_ERR_ENC_L, MOT_ERR_ENC_R, MOT_ERR_VEL_L, MOT_ERR_VEL_R, NUM_INIT_ZEROS, numTimeouts, OHMM_SITE_CLASS, OHMM_SITE_CLASS_PROP, ostream, PID_FPF, recvPollTime, recvTimedOut, RIGHT, RXTX_BAUDRATE, RXTX_OPEN_TIMEOUT_MS, RXTX_PORT_OWNER_NAME, rxtxSerialPort, SCAL_N, STATUS_INDEX_BAT, STATUS_INDEX_HLP, STATUS_INDEX_MOT, STATUS_INDEX_TASK, TASK_ERR_COLLISION, TASK_ERR_MEM, timeout, totalRecvWait, totalSendWait, USAGE

Constructor Summary

Constructors
Constructor and Description
`OHMMDrive()` Calls superclass constructor.
`OHMMDrive(double initWait, java.lang.String[] cmd)` Calls superclass constructor.
`OHMMDrive(ErrorHandler eh)` Calls superclass constructor.
`OHMMDrive(ErrorHandler eh, double initWait, java.lang.String[] cmd)` Calls superclass constructor.
`OHMMDrive(ErrorHandler eh, java.io.File p)` Calls superclass constructor.
`OHMMDrive(ErrorHandler eh, java.lang.String p)` Calls superclass constructor.
`OHMMDrive(ErrorHandler eh, java.lang.String[] cmd)` Calls superclass constructor.
`OHMMDrive(java.io.File p)` Calls superclass constructor.
`OHMMDrive(java.lang.String p)` Calls superclass constructor.
`OHMMDrive(java.lang.String[] cmd)` Calls superclass constructor.

Method Summary

Methods
Modifier and Type	Method and Description
`boolean`	`driveArc(float l, float d)` Runs monitor command "da".
`boolean`	`driveArcDeg(float l, float d)` Runs monitor command "dad".
`static java.lang.String`	`driveCfgToString(float[] cfg)` Convert drive config to a human readable message.
`static java.lang.StringBuilder`	`driveCfgToString(float[] cfg, java.lang.StringBuilder sb)` helper for `driveCfgToString(float[])`
`float[]`	`driveGetCfg()` covers `driveGetCfg(float[])`, always conses
`float[]`	`driveGetCfg(float[] cfg)` Runs monitor command "dgcfg".
`float[]`	`driveGetPose()` calls `driveGetPose(float[])`, always conses
`float[]`	`driveGetPose(float[] xyt)` Runs monitor command "dgp".
`int`	`driveGetQueue()` Runs monitor command "dgq".
`float[]`	`driveGetVL()` calls `driveGetVL(float[])`, always conses
`float[]`	`driveGetVL(float[] vl)` Runs monitor command "dgvl".
`float[]`	`driveGetVW()` calls `driveGetVW(float[])`, always conses
`float[]`	`driveGetVW(float[] vw)` Runs monitor command "dgvw".
`boolean`	`driveOrientationServo(float t)` Runs monitor command "dos".
`void`	`drivePause()` Runs monitor command "dp".
`void`	`driveReinit()` Runs monitor command "dri".
`void`	`driveResetPose()` Runs monitor command "drp".
`void`	`driveSetBaseline(float b)` Runs monitor command "dsbl".
`void`	`driveSetMaxAccel(float a)` Runs monitor command "dsma".
`boolean`	`driveSetMaxSpeed(float s)` Runs monitor command "dsms".
`void`	`driveSetPosDGain(float g)` Runs the monitor command "dsdg".
`void`	`driveSetPose(float x, float y, float t)` Runs monitor command "dsp".
`void`	`driveSetPosIGain(float g)` Runs the monitor command "dsig".
`void`	`driveSetPosPGain(float g)` Runs the monitor command "dspg".
`void`	`driveSetTol(float t)` Runs monitor command "dstol".
`boolean`	`driveSetVL(float v, float l)` Runs monitor command "dsvl".
`boolean`	`driveSetVW(float v, float w)` Runs monitor command "dsvw".
`void`	`driveSetWheelRadius(float r)` Runs monitor command "dswr".
`OHMMDrive.DriveState`	`driveState()` covers `driveState(DriveState)`, always conses
`OHMMDrive.DriveState`	`driveState(OHMMDrive.DriveState state)` Runs monitor command "drvst".
`void`	`driveStop()` Runs monitor command "dst".
`boolean`	`driveStraight(float d)` Runs monitor command "df".
`boolean`	`driveTurn(float d)` Runs monitor command "dt".
`boolean`	`driveTurnDeg(float d)` Runs monitor command "dtd".
`void`	`driveUnPause()` Runs monitor command "dup".
`java.lang.String`	`getHLPVersion()` get a human-readable string giving the OHMM hlp library version
`int`	`getStatusIndexArm()` Get module `OHMM.status(int[])` byte index.
`int`	`getStatusIndexDrive()` Get module `OHMM.status(int[])` byte index.
`int`	`getStatusLength()` Get number of bytes expected from llp for `OHMM.status(int[])`.
`OHMM.AllState`	`makeAllState()` Factory method to cons an `OHMM.AllState`.
`java.lang.StringBuilder`	`statusToString(int[] status, java.lang.StringBuilder sb)` helper for `OHMM.statusToString(int[])`

Methods inherited from class ohmm.OHMM
allState, allState, armActive, armAtGoal, armCal, armEnable, armFreezeAllCal, armGetAllCal, armGetAllCal, armGetAllJoints, armGetAllJoints, armGetAllJointsDeg, armGetAllJointsDeg, armGetAllJointsRad, armGetAllJointsRad, armGetCal, armGetGripper, armGetJoint, armGetJointDeg, armGetJointRad, armGetLoads, armGetLoads, armGetNumAXErrors, armGetTemps, armGetTemps, armHome, armReinit, armSetAllCal, armSetAllJoints, armSetAllJointsDeg, armSetAllJointsRad, armSetCal, armSetGripper, armSetJoint, armSetJointDeg, armSetJointRad, armState, armState, axAction, axErrToString, axESTOP, axGetLoad, axGetNumOverflows, axGetNumRetries, axGetNumTimeouts, axGetPos, axGetPosDeg, axGetPosRad, axGetTemp, axGetVolts, axPing, axRead, axRead, axRead16, axRead16, axRegSetGoal, axRegSetGoalDeg, axRegSetGoalRad, axRegWrite, axRegWrite, axRegWrite11, axRegWrite11, axReinit, axSetAngleLimits, axSetGoal, axSetGoalDeg, axSetGoalImpl, axSetGoalImpl, axSetGoalRad, axState, axState, axTorqueEnable, axWrite, axWrite, axWrite11, axWrite11, axWriteImpl, batMillivolts, batState, batState, close, dbg, drainReceiveBuffer, dumpStats, dumpStats, echo, echo, echo, echoFix, estop, fmt2, fmt4, freeRam, getBytesReceived, getBytesSent, getCmdCode, getCommandDelay, getCurrentTime, getDebug, getErrorHandler, getMonitorVersion, getNumTimeouts, getOHMMClass, getRecvPollTime, getStatusIndexBat, getStatusIndexHLP, getStatusIndexMot, getStatusIndexTask, getTimeout, init, init, lcdAlert, lcdMsg, lcdMsgClr, lcdSysMsg, lcdSysMsgClr, listPorts, listPorts, makeOHMM, makeOHMM, motFree, motGetErrors, motGetGainCmd, motGetPos, motGetPos, motGetPosCounts, motGetPosCounts, motGetVel, motGetVel, motGetVelCmd, motGetVelCmd, motKick, motReinit, motSetDiffVelIGain, motSetVelCmd, motSetVelDGain, motSetVelIGain, motSetVelPGain, motState, motState, noResponseDelay, ohmmState, ohmmState, printUsage, recvBoolean, recvByte, recvByte, recvChar, recvFix, recvFloat, recvInt, recvString, recvString, resetStats, send, send, send, send, send, send, send, send, send, send, send, send, send, send, send, send, sendCmdCode, sendCmdCode, sendFix, sendFix, sendFlush, sendZeros, senseConfigAnalog, senseConfigAnalog, senseConfigAnalogIR, senseConfigAnalogIR, senseConfigAnalogLUT, senseConfigAnalogLUT, senseConfigDigital, senseConfigDigital, senseReadAnalog, senseReadAnalog, senseReadDigital, senseReadDigital, senseReinit, senseState, senseState, setCommandDelay, setDebug, setErrorHandler, setRecvPollTime, setTimeout, shtdn, sleep, status, status, statusToString, taskState, taskState, ticks

Methods inherited from class java.lang.Object
clone, equals, finalize, getClass, hashCode, notify, notifyAll, toString, wait, wait, wait

- Field Detail
  - svnid
```
private static final java.lang.String svnid
```
    See Also:
    Constant Field Values
  - VERSION
```
public static final Version VERSION
```
    Version info for the OHMM hlp library.
    
    getHLPVersion() is a convenience; OHMM.getMonitorVersion() asks the firmware for its version, which may differ.
  - STATUS_LEN
```
public static final int STATUS_LEN
```
    num bytes for OHMM.status(int[]), see getStatusLength()
    
    See Also:
    Constant Field Values
  - STATUS_INDEX_DRIVE
```
public static final int STATUS_INDEX_DRIVE
```
    status index for OHMM.status(int[])
    
    See Also:
    Constant Field Values
  - STATUS_INDEX_ARM
```
public static final int STATUS_INDEX_ARM
```
    status index for OHMM.status(int[])
    
    See Also:
    Constant Field Values
  - DRIVE_ERR_ODOM
```
public static final int DRIVE_ERR_ODOM
```
    status flag for OHMM.status(int[])
    
    See Also:
    Constant Field Values
  - DRIVE_ERR_TIMEOUT
```
public static final int DRIVE_ERR_TIMEOUT
```
    status flag for OHMM.status(int[])
    
    See Also:
    Constant Field Values
  - DRIVE_CFG_LEN
```
public static final int DRIVE_CFG_LEN
```
    max cfg floats for driveGetCfg(float[])
    
    See Also:
    Constant Field Values
  - DRIVE_CFG_INDEX_R
```
public static final int DRIVE_CFG_INDEX_R
```
    float index for driveGetCfg(float[])
    
    See Also:
    Constant Field Values
  - DRIVE_CFG_INDEX_B
```
public static final int DRIVE_CFG_INDEX_B
```
    float index for driveGetCfg(float[])
    
    See Also:
    Constant Field Values
  - DRIVE_CFG_INDEX_MS
```
public static final int DRIVE_CFG_INDEX_MS
```
    float index for driveGetCfg(float[])
    
    See Also:
    Constant Field Values
  - DRIVE_CFG_INDEX_MA
```
public static final int DRIVE_CFG_INDEX_MA
```
    float index for driveGetCfg(float[])
    
    See Also:
    Constant Field Values
  - DRIVE_CFG_INDEX_TOL
```
public static final int DRIVE_CFG_INDEX_TOL
```
    float index for driveGetCfg(float[])
    
    See Also:
    Constant Field Values
- Constructor Detail
  - OHMMDrive
```
public OHMMDrive(ErrorHandler eh,
         java.io.File p)
```
    Calls superclass constructor.
  - OHMMDrive
```
public OHMMDrive(java.io.File p)
```
    Calls superclass constructor.
  - OHMMDrive
```
public OHMMDrive(ErrorHandler eh,
         java.lang.String p)
```
    Calls superclass constructor.
  - OHMMDrive
```
public OHMMDrive(java.lang.String p)
```
    Calls superclass constructor.
  - OHMMDrive
```
public OHMMDrive(ErrorHandler eh,
         double initWait,
         java.lang.String[] cmd)
```
    Calls superclass constructor.
  - OHMMDrive
```
public OHMMDrive(ErrorHandler eh,
         java.lang.String[] cmd)
```
    Calls superclass constructor.
  - OHMMDrive
```
public OHMMDrive(double initWait,
         java.lang.String[] cmd)
```
    Calls superclass constructor.
  - OHMMDrive
```
public OHMMDrive(java.lang.String[] cmd)
```
    Calls superclass constructor.
  - OHMMDrive
```
public OHMMDrive(ErrorHandler eh)
```
    Calls superclass constructor.
  - OHMMDrive
```
public OHMMDrive()
```
    Calls superclass constructor.
- Method Detail
  - getHLPVersion
```
public java.lang.String getHLPVersion()
```
    get a human-readable string giving the OHMM hlp library version
    This impl reports both the base OHMM class version as well as the version of OHMMDrive.
    
    Overrides:
    
    getHLPVersion in class OHMM
  - getStatusLength
```
public int getStatusLength()
```
    Get number of bytes expected from llp for OHMM.status(int[]).
    
    Subclasses may override this.
    
    Overrides:
    
    getStatusLength in class OHMM
  - getStatusIndexDrive
```
public int getStatusIndexDrive()
```
    Get module OHMM.status(int[]) byte index.
    
    Subclasses may override this.
  - getStatusIndexArm
```
public int getStatusIndexArm()
```
    Get module OHMM.status(int[]) byte index.
    
    Subclasses may override this.
    
    Overrides:
    
    getStatusIndexArm in class OHMM
  - statusToString
```
public java.lang.StringBuilder statusToString(int[] status,
                                     java.lang.StringBuilder sb)
```
    helper for OHMM.statusToString(int[])
    
    Overrides:
    
    statusToString in class OHMM
  - makeAllState
```
public OHMM.AllState makeAllState()
```
    Factory method to cons an OHMM.AllState.
    
    May be overridden by subclasses that also need to subclass OHMM.AllState.
    
    Overrides:
    
    makeAllState in class OHMM
  - driveReinit
```
public void driveReinit()
```
    Runs monitor command "dri".
  - driveGetVW
```
public float[] driveGetVW(float[] vw)
```
    Runs monitor command "dgvw".
    
    Parameters:
    vw - velocities are returned here, or cons if null
    
    Returns:
    vw
  - driveGetVW
```
public float[] driveGetVW()
```
    calls driveGetVW(float[]), always conses
  - driveGetVL
```
public float[] driveGetVL(float[] vl)
```
    Runs monitor command "dgvl".
    
    Parameters:
    vl - velocities are returned here, or cons if null
    
    Returns:
    vl
  - driveGetVL
```
public float[] driveGetVL()
```
    calls driveGetVL(float[]), always conses
  - driveSetVW
```
public boolean driveSetVW(float v,
                 float w)
```
    Runs monitor command "dsvw".
    
    Parameters:
    v - forward velocity in mm/s
    w - rotational velocity in rad/s, CCW positive
  - driveSetVL
```
public boolean driveSetVL(float v,
                 float l)
```
    Runs monitor command "dsvl".
    
    Parameters:
    v - forward velocity in mm/s or turn velocity in rad/s for turn in place
    l - turn radius in mm, CCW positive
  - driveGetPose
```
public float[] driveGetPose(float[] xyt)
```
    Runs monitor command "dgp".
    
    Parameters:
    xyt - pose is returned here, or cons if null
    
    Returns:
    xyt
    Units correspond to args to driveSetPose(float, float, float).
  - driveGetPose
```
public float[] driveGetPose()
```
    calls driveGetPose(float[]), always conses
  - driveSetPose
```
public void driveSetPose(float x,
                float y,
                float t)
```
    Runs monitor command "dsp".
    
    Parameters:
    x - pose x in mm
    y - pose y in mm
    t - pose theta in rad CCW positive
  - driveResetPose
```
public void driveResetPose()
```
    Runs monitor command "drp".
  - driveStraight
```
public boolean driveStraight(float d)
```
    Runs monitor command "df".
    
    Parameters:
    d - distance to travel in mm, positive forward
    
    Returns:
    true unless the drive queue was full
  - driveTurn
```
public boolean driveTurn(float d)
```
    Runs monitor command "dt".
    
    Parameters:
    d - amount of turn in radians, CCW positive
    
    Returns:
    true unless the drive queue was full
  - driveTurnDeg
```
public boolean driveTurnDeg(float d)
```
    Runs monitor command "dtd".
    
    Parameters:
    d - amount of turn in degrees, CCW positive
    
    Returns:
    true unless the drive queue was full
  - driveArc
```
public boolean driveArc(float l,
               float d)
```
    Runs monitor command "da".
    
    Parameters:
    l - signed arc radius in mm
    d - signed drive distance in mm, or turn angle in rad for turn in place
    
    Returns:
    true unless the drive queue was full
  - driveArcDeg
```
public boolean driveArcDeg(float l,
                  float d)
```
    Runs monitor command "dad".
    
    Parameters:
    l - signed arc radius in mm
    d - signed drive distance in mm, or turn angle in degrees for turn in place
    
    Returns:
    true unless the drive queue was full
  - driveOrientationServo
```
public boolean driveOrientationServo(float t)
```
    Runs monitor command "dos".
    
    Parameters:
    t - global goal orientation in rad or NaN to disable orientation servo
    
    Returns:
    false if t not NaN and not at orientation goal
  - driveGetQueue
```
public int driveGetQueue()
```
    Runs monitor command "dgq".
    
    Returns:
    num queued drive segments, plus 1 if a drive is ongoing
  - drivePause
```
public void drivePause()
```
    Runs monitor command "dp".
  - driveUnPause
```
public void driveUnPause()
```
    Runs monitor command "dup".
  - driveStop
```
public void driveStop()
```
    Runs monitor command "dst".
  - driveSetPosPGain
```
public void driveSetPosPGain(float g)
```
    Runs the monitor command "dspg".
    
    Parameters:
    g - the gain
  - driveSetPosIGain
```
public void driveSetPosIGain(float g)
```
    Runs the monitor command "dsig".
    
    Parameters:
    g - the gain
  - driveSetPosDGain
```
public void driveSetPosDGain(float g)
```
    Runs the monitor command "dsdg".
    
    Parameters:
    g - the gain
  - driveGetCfg
```
public float[] driveGetCfg(float[] cfg)
```
    Runs monitor command "dgcfg".
    
    Parameters:
    cfg - up to DRIVE_CFG_LEN floats of config is returned here, or null to cons
    
    Returns:
    cfg Returned floats are indexed by DRIVE_CFG_INDEX_*.
  - driveGetCfg
```
public float[] driveGetCfg()
```
    covers driveGetCfg(float[]), always conses
  - driveCfgToString
```
public static java.lang.String driveCfgToString(float[] cfg)
```
    Convert drive config to a human readable message.
    
    Parameters:
    cfg - up to DRIVE_CFG_LEN bytes
    
    Returns:
    a corresponding message
  - driveCfgToString
```
public static java.lang.StringBuilder driveCfgToString(float[] cfg,
                                       java.lang.StringBuilder sb)
```
    helper for driveCfgToString(float[])
  - driveSetWheelRadius
```
public void driveSetWheelRadius(float r)
```
    Runs monitor command "dswr".
    
    Parameters:
    r - nonnegative wheel radius in mm
  - driveSetBaseline
```
public void driveSetBaseline(float b)
```
    Runs monitor command "dsbl".
    
    Parameters:
    b - nonnegative baseline between wheels in mm
  - driveSetMaxSpeed
```
public boolean driveSetMaxSpeed(float s)
```
    Runs monitor command "dsms".
    
    Parameters:
    s - positive maximum speed in mm/sec
    
    Returns:
    true unless clamping occurs
  - driveSetMaxAccel
```
public void driveSetMaxAccel(float a)
```
    Runs monitor command "dsma".
    
    Parameters:
    a - positive max acceleration in mm/sec/sec, or Float.POSITIVE_INFINITY to skip acceleration
  - driveSetTol
```
public void driveSetTol(float t)
```
    Runs monitor command "dstol".
    
    Parameters:
    t - tolerance in mm
  - driveState
```
public OHMMDrive.DriveState driveState(OHMMDrive.DriveState state)
```
    Runs monitor command "drvst".
    
    Parameters:
    state - the state is returned here, or null to cons
    
    Returns:
    state
  - driveState
```
public OHMMDrive.DriveState driveState()
```
    covers driveState(DriveState), always conses

Class OHMMDrive

Nested Class Summary

Nested classes/interfaces inherited from class ohmm.OHMM

Field Summary

Fields inherited from class ohmm.OHMM

Constructor Summary

Method Summary

Methods inherited from class ohmm.OHMM

Methods inherited from class java.lang.Object

Field Detail

svnid

VERSION

STATUS_LEN

STATUS_INDEX_DRIVE

STATUS_INDEX_ARM

DRIVE_ERR_ODOM

DRIVE_ERR_TIMEOUT

DRIVE_CFG_LEN

DRIVE_CFG_INDEX_R

DRIVE_CFG_INDEX_B

DRIVE_CFG_INDEX_MS

DRIVE_CFG_INDEX_MA

DRIVE_CFG_INDEX_TOL

Constructor Detail

OHMMDrive

OHMMDrive

OHMMDrive

OHMMDrive

OHMMDrive

OHMMDrive

OHMMDrive

OHMMDrive

OHMMDrive

OHMMDrive

Method Detail

getHLPVersion

getStatusLength

getStatusIndexDrive

getStatusIndexArm

statusToString

makeAllState

driveReinit

driveGetVW

driveGetVW

driveGetVL

driveGetVL

driveSetVW

driveSetVL

driveGetPose

driveGetPose

driveSetPose

driveResetPose

driveStraight

driveTurn

driveTurnDeg

driveArc

driveArcDeg

driveOrientationServo

driveGetQueue

drivePause

driveUnPause

driveStop

driveSetPosPGain

driveSetPosIGain

driveSetPosDGain

driveGetCfg

driveGetCfg

driveCfgToString

driveCfgToString

driveSetWheelRadius

driveSetBaseline

driveSetMaxSpeed

driveSetMaxAccel

driveSetTol

driveState

driveState