Feature can #4
430
bobbycar-can.h
430
bobbycar-can.h
@@ -2,279 +2,197 @@
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#include <cstdint>
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enum { // vv
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DeviceTypeMotorController = 0b00000000000
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};
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namespace bobbycar {
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namespace can {
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template<bool isBack, bool isRight>
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class MotorController
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{
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private:
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enum { // vvv
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DeviceTypeMotorController = 0b00000000000
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};
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enum { // ..vv
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MotorControllerRec = 0b00000000000,
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MotorControllerSend = 0b00010000000,
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};
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enum { // ...v
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MotorControllerCommand = 0b00000000000,
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MotorControllerFeedback = 0b00010000000,
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};
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enum { // ....vvvvv
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MotorControllerDcLink = 0b00000000000,
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MotorControllerSpeed = 0b00000000100,
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MotorControllerError = 0b00000001000,
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MotorControllerAngle = 0b00000001100,
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MotorControllerDcPhaA = 0b00000010000,
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MotorControllerDcPhaB = 0b00000010100,
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MotorControllerDcPhaC = 0b00000011000,
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MotorControllerChops = 0b00000011100,
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MotorControllerHall = 0b00000100000,
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MotorControllerVoltage = 0b00000100100,
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MotorControllerTemp = 0b00000101000
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};
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enum { // .........v
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MotorControllerFront = 0b00000000000,
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MotorControllerBack = 0b00000000010,
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};
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enum { // ....vvvvv
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MotorControllerEnable = 0b00000000000,
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MotorControllerInpTgt = 0b00000000100,
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MotorControllerCtrlTyp = 0b00000001000,
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MotorControllerCtrlMod = 0b00000001100,
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MotorControllerIMotMax = 0b00000010000,
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MotorControllerIDcMax = 0b00000010100,
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MotorControllerNMotMax = 0b00000011000,
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MotorControllerFieldWeakMax=0b00000011100,
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MotorControllerPhaseAdvMax =0b00000100000,
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MotorControllerBuzzerFreq = 0b00000100100,
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MotorControllerBuzzerPattern=0b00000101000,
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MotorControllerLed = 0b00000101100,
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MotorControllerPoweroff = 0b00000110000
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};
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enum { // ..........v
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MotorControllerLeft = 0b00000000000,
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MotorControllerRight = 0b00000000001,
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};
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enum { // .........v
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MotorControllerFront = 0b00000000000,
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MotorControllerBack = 0b00000000010,
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};
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enum {
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MotorControllerMask =
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DeviceTypeMotorController |
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(isBack ? MotorControllerBack : MotorControllerFront) |
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(isRight ? MotorControllerRight : MotorControllerLeft)
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};
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enum { // ..........v
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MotorControllerLeft = 0b00000000000,
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MotorControllerRight = 0b00000000001,
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};
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public:
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MotorController() = delete;
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~MotorController() = delete;
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enum {
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MotorControllerFrontLeftDcLink = DeviceTypeMotorController | MotorControllerSend | MotorControllerDcLink | MotorControllerFront | MotorControllerLeft,
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MotorControllerFrontRightDcLink = DeviceTypeMotorController | MotorControllerSend | MotorControllerDcLink | MotorControllerFront | MotorControllerRight,
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MotorControllerBackLeftDcLink = DeviceTypeMotorController | MotorControllerSend | MotorControllerDcLink | MotorControllerBack | MotorControllerLeft,
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MotorControllerBackRightDcLink = DeviceTypeMotorController | MotorControllerSend | MotorControllerDcLink | MotorControllerBack | MotorControllerRight,
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class Command {
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private:
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enum {
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MotorControllerCommandMask = MotorControllerMask | MotorControllerCommand
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};
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MotorControllerFrontLeftSpeed = DeviceTypeMotorController | MotorControllerSend | MotorControllerSpeed | MotorControllerFront | MotorControllerLeft,
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MotorControllerFrontRightSpeed = DeviceTypeMotorController | MotorControllerSend | MotorControllerSpeed | MotorControllerFront | MotorControllerRight,
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MotorControllerBackLeftSpeed = DeviceTypeMotorController | MotorControllerSend | MotorControllerSpeed | MotorControllerBack | MotorControllerLeft,
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MotorControllerBackRightSpeed = DeviceTypeMotorController | MotorControllerSend | MotorControllerSpeed | MotorControllerBack | MotorControllerRight,
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public:
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Command() = delete;
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~Command() = delete;
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MotorControllerFrontLeftError = DeviceTypeMotorController | MotorControllerSend | MotorControllerError | MotorControllerFront | MotorControllerLeft,
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MotorControllerFrontRightError = DeviceTypeMotorController | MotorControllerSend | MotorControllerError | MotorControllerFront | MotorControllerRight,
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MotorControllerBackLeftError = DeviceTypeMotorController | MotorControllerSend | MotorControllerError | MotorControllerBack | MotorControllerLeft,
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MotorControllerBackRightError = DeviceTypeMotorController | MotorControllerSend | MotorControllerError | MotorControllerBack | MotorControllerRight,
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enum { // ....vvvvv
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Enable = 0b00000000000 | MotorControllerCommandMask,
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InpTgt = 0b00000000100 | MotorControllerCommandMask,
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CtrlTyp = 0b00000001000 | MotorControllerCommandMask,
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CtrlMod = 0b00000001100 | MotorControllerCommandMask,
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IMotMax = 0b00000010000 | MotorControllerCommandMask,
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IDcMax = 0b00000010100 | MotorControllerCommandMask,
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NMotMax = 0b00000011000 | MotorControllerCommandMask,
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FieldWeakMax = 0b00000011100 | MotorControllerCommandMask,
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PhaseAdvMax = 0b00000100000 | MotorControllerCommandMask,
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BuzzerFreq = 0b00000100100 | MotorControllerCommandMask,
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BuzzerPattern = 0b00000101000 | MotorControllerCommandMask,
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Led = 0b00000101100 | MotorControllerCommandMask,
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Poweroff = 0b00000110000 | MotorControllerCommandMask
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};
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};
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MotorControllerFrontLeftAngle = DeviceTypeMotorController | MotorControllerSend | MotorControllerAngle | MotorControllerFront | MotorControllerLeft,
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MotorControllerFrontRightAngle = DeviceTypeMotorController | MotorControllerSend | MotorControllerAngle | MotorControllerFront | MotorControllerRight,
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MotorControllerBackLeftAngle = DeviceTypeMotorController | MotorControllerSend | MotorControllerAngle | MotorControllerBack | MotorControllerLeft,
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MotorControllerBackRightAngle = DeviceTypeMotorController | MotorControllerSend | MotorControllerAngle | MotorControllerBack | MotorControllerRight,
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class Feedback {
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private:
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enum {
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MotorControllerFeedbackMask = MotorControllerMask | MotorControllerFeedback
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};
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MotorControllerFrontLeftDcPhaA = DeviceTypeMotorController | MotorControllerSend | MotorControllerDcPhaA | MotorControllerFront | MotorControllerLeft,
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MotorControllerFrontRightDcPhaA = DeviceTypeMotorController | MotorControllerSend | MotorControllerDcPhaA | MotorControllerFront | MotorControllerRight,
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MotorControllerBackLeftDcPhaA = DeviceTypeMotorController | MotorControllerSend | MotorControllerDcPhaA | MotorControllerBack | MotorControllerLeft,
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MotorControllerBackRightDcPhaA = DeviceTypeMotorController | MotorControllerSend | MotorControllerDcPhaA | MotorControllerBack | MotorControllerRight,
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public:
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Feedback() = delete;
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~Feedback() = delete;
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MotorControllerFrontLeftDcPhaB = DeviceTypeMotorController | MotorControllerSend | MotorControllerDcPhaB | MotorControllerFront | MotorControllerLeft,
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MotorControllerFrontRightDcPhaB = DeviceTypeMotorController | MotorControllerSend | MotorControllerDcPhaB | MotorControllerFront | MotorControllerRight,
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MotorControllerBackLeftDcPhaB = DeviceTypeMotorController | MotorControllerSend | MotorControllerDcPhaB | MotorControllerBack | MotorControllerLeft,
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MotorControllerBackRightDcPhaB = DeviceTypeMotorController | MotorControllerSend | MotorControllerDcPhaB | MotorControllerBack | MotorControllerRight,
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MotorControllerFrontLeftDcPhaC = DeviceTypeMotorController | MotorControllerSend | MotorControllerDcPhaC | MotorControllerFront | MotorControllerLeft,
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MotorControllerFrontRightDcPhaC = DeviceTypeMotorController | MotorControllerSend | MotorControllerDcPhaC | MotorControllerFront | MotorControllerRight,
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MotorControllerBackLeftDcPhaC = DeviceTypeMotorController | MotorControllerSend | MotorControllerDcPhaC | MotorControllerBack | MotorControllerLeft,
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MotorControllerBackRightDcPhaC = DeviceTypeMotorController | MotorControllerSend | MotorControllerDcPhaC | MotorControllerBack | MotorControllerRight,
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MotorControllerFrontLeftChops = DeviceTypeMotorController | MotorControllerSend | MotorControllerChops | MotorControllerFront | MotorControllerLeft,
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MotorControllerFrontRightChops = DeviceTypeMotorController | MotorControllerSend | MotorControllerChops | MotorControllerFront | MotorControllerRight,
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MotorControllerBackLeftChops = DeviceTypeMotorController | MotorControllerSend | MotorControllerChops | MotorControllerBack | MotorControllerLeft,
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MotorControllerBackRightChops = DeviceTypeMotorController | MotorControllerSend | MotorControllerChops | MotorControllerBack | MotorControllerRight,
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MotorControllerFrontLeftHall = DeviceTypeMotorController | MotorControllerSend | MotorControllerHall | MotorControllerFront | MotorControllerLeft,
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MotorControllerFrontRightHall = DeviceTypeMotorController | MotorControllerSend | MotorControllerHall | MotorControllerFront | MotorControllerRight,
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MotorControllerBackLeftHall = DeviceTypeMotorController | MotorControllerSend | MotorControllerHall | MotorControllerBack | MotorControllerLeft,
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MotorControllerBackRightHall = DeviceTypeMotorController | MotorControllerSend | MotorControllerHall | MotorControllerBack | MotorControllerRight,
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MotorControllerFrontLeftVoltage = DeviceTypeMotorController | MotorControllerSend | MotorControllerVoltage | MotorControllerFront | MotorControllerLeft,
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MotorControllerFrontRightVoltage = DeviceTypeMotorController | MotorControllerSend | MotorControllerVoltage | MotorControllerFront | MotorControllerRight,
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MotorControllerBackLeftVoltage = DeviceTypeMotorController | MotorControllerSend | MotorControllerVoltage | MotorControllerBack | MotorControllerLeft,
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MotorControllerBackRightVoltage = DeviceTypeMotorController | MotorControllerSend | MotorControllerVoltage | MotorControllerBack | MotorControllerRight,
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MotorControllerFrontLeftTemp = DeviceTypeMotorController | MotorControllerSend | MotorControllerTemp | MotorControllerFront | MotorControllerLeft,
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MotorControllerFrontRightTemp = DeviceTypeMotorController | MotorControllerSend | MotorControllerTemp | MotorControllerFront | MotorControllerRight,
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MotorControllerBackLeftTemp = DeviceTypeMotorController | MotorControllerSend | MotorControllerTemp | MotorControllerBack | MotorControllerLeft,
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MotorControllerBackRightTemp = DeviceTypeMotorController | MotorControllerSend | MotorControllerTemp | MotorControllerBack | MotorControllerRight,
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};
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enum {
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MotorControllerFrontLeftEnable = DeviceTypeMotorController | MotorControllerRec | MotorControllerEnable | MotorControllerFront | MotorControllerLeft,
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MotorControllerFrontRightEnable = DeviceTypeMotorController | MotorControllerRec | MotorControllerEnable | MotorControllerFront | MotorControllerRight,
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MotorControllerBackLeftEnable = DeviceTypeMotorController | MotorControllerRec | MotorControllerEnable | MotorControllerBack | MotorControllerLeft,
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MotorControllerBackRightEnable = DeviceTypeMotorController | MotorControllerRec | MotorControllerEnable | MotorControllerBack | MotorControllerRight,
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MotorControllerFrontLeftInpTgt = DeviceTypeMotorController | MotorControllerRec | MotorControllerInpTgt | MotorControllerFront | MotorControllerLeft,
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MotorControllerFrontRightInpTgt = DeviceTypeMotorController | MotorControllerRec | MotorControllerInpTgt | MotorControllerFront | MotorControllerRight,
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MotorControllerBackLeftInpTgt = DeviceTypeMotorController | MotorControllerRec | MotorControllerInpTgt | MotorControllerBack | MotorControllerLeft,
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MotorControllerBackRightInpTgt = DeviceTypeMotorController | MotorControllerRec | MotorControllerInpTgt | MotorControllerBack | MotorControllerRight,
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MotorControllerFrontLeftCtrlTyp = DeviceTypeMotorController | MotorControllerRec | MotorControllerCtrlTyp | MotorControllerFront | MotorControllerLeft,
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MotorControllerFrontRightCtrlTyp = DeviceTypeMotorController | MotorControllerRec | MotorControllerCtrlTyp | MotorControllerFront | MotorControllerRight,
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MotorControllerBackLeftCtrlTyp = DeviceTypeMotorController | MotorControllerRec | MotorControllerCtrlTyp | MotorControllerBack | MotorControllerLeft,
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MotorControllerBackRightCtrlTyp = DeviceTypeMotorController | MotorControllerRec | MotorControllerCtrlTyp | MotorControllerBack | MotorControllerRight,
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MotorControllerFrontLeftCtrlMod = DeviceTypeMotorController | MotorControllerRec | MotorControllerCtrlMod | MotorControllerFront | MotorControllerLeft,
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MotorControllerFrontRightCtrlMod = DeviceTypeMotorController | MotorControllerRec | MotorControllerCtrlMod | MotorControllerFront | MotorControllerRight,
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MotorControllerBackLeftCtrlMod = DeviceTypeMotorController | MotorControllerRec | MotorControllerCtrlMod | MotorControllerBack | MotorControllerLeft,
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MotorControllerBackRightCtrlMod = DeviceTypeMotorController | MotorControllerRec | MotorControllerCtrlMod | MotorControllerBack | MotorControllerRight,
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MotorControllerFrontLeftIMotMax = DeviceTypeMotorController | MotorControllerRec | MotorControllerIMotMax | MotorControllerFront | MotorControllerLeft,
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MotorControllerFrontRightIMotMax = DeviceTypeMotorController | MotorControllerRec | MotorControllerIMotMax | MotorControllerFront | MotorControllerRight,
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MotorControllerBackLeftIMotMax = DeviceTypeMotorController | MotorControllerRec | MotorControllerIMotMax | MotorControllerBack | MotorControllerLeft,
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MotorControllerBackRightIMotMax = DeviceTypeMotorController | MotorControllerRec | MotorControllerIMotMax | MotorControllerBack | MotorControllerRight,
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MotorControllerFrontLeftIDcMax = DeviceTypeMotorController | MotorControllerRec | MotorControllerIDcMax | MotorControllerFront | MotorControllerLeft,
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MotorControllerFrontRightIDcMax = DeviceTypeMotorController | MotorControllerRec | MotorControllerIDcMax | MotorControllerFront | MotorControllerRight,
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MotorControllerBackLeftIDcMax = DeviceTypeMotorController | MotorControllerRec | MotorControllerIDcMax | MotorControllerBack | MotorControllerLeft,
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MotorControllerBackRightIDcMax = DeviceTypeMotorController | MotorControllerRec | MotorControllerIDcMax | MotorControllerBack | MotorControllerRight,
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MotorControllerFrontLeftNMotMax = DeviceTypeMotorController | MotorControllerRec | MotorControllerNMotMax | MotorControllerFront | MotorControllerLeft,
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MotorControllerFrontRightNMotMax = DeviceTypeMotorController | MotorControllerRec | MotorControllerNMotMax | MotorControllerFront | MotorControllerRight,
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MotorControllerBackLeftNMotMax = DeviceTypeMotorController | MotorControllerRec | MotorControllerNMotMax | MotorControllerBack | MotorControllerLeft,
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MotorControllerBackRightNMotMax = DeviceTypeMotorController | MotorControllerRec | MotorControllerNMotMax | MotorControllerBack | MotorControllerRight,
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MotorControllerFrontLeftFieldWeakMax = DeviceTypeMotorController | MotorControllerRec | MotorControllerFieldWeakMax | MotorControllerFront | MotorControllerLeft,
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MotorControllerFrontRightFieldWeakMax = DeviceTypeMotorController | MotorControllerRec | MotorControllerFieldWeakMax | MotorControllerFront | MotorControllerRight,
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MotorControllerBackLeftFieldWeakMax = DeviceTypeMotorController | MotorControllerRec | MotorControllerFieldWeakMax | MotorControllerBack | MotorControllerLeft,
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MotorControllerBackRightFieldWeakMax = DeviceTypeMotorController | MotorControllerRec | MotorControllerFieldWeakMax | MotorControllerBack | MotorControllerRight,
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MotorControllerFrontLeftPhaseAdvMax = DeviceTypeMotorController | MotorControllerRec | MotorControllerPhaseAdvMax | MotorControllerFront | MotorControllerLeft,
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MotorControllerFrontRightPhaseAdvMax = DeviceTypeMotorController | MotorControllerRec | MotorControllerPhaseAdvMax | MotorControllerFront | MotorControllerRight,
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MotorControllerBackLeftPhaseAdvMax = DeviceTypeMotorController | MotorControllerRec | MotorControllerPhaseAdvMax | MotorControllerBack | MotorControllerLeft,
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MotorControllerBackRightPhaseAdvMax = DeviceTypeMotorController | MotorControllerRec | MotorControllerPhaseAdvMax | MotorControllerBack | MotorControllerRight,
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MotorControllerFrontLeftBuzzerFreq = DeviceTypeMotorController | MotorControllerRec | MotorControllerBuzzerFreq | MotorControllerFront | MotorControllerLeft,
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MotorControllerFrontRightBuzzerFreq = DeviceTypeMotorController | MotorControllerRec | MotorControllerBuzzerFreq | MotorControllerFront | MotorControllerRight,
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MotorControllerBackLeftBuzzerFreq = DeviceTypeMotorController | MotorControllerRec | MotorControllerBuzzerFreq | MotorControllerBack | MotorControllerLeft,
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MotorControllerBackRightBuzzerFreq = DeviceTypeMotorController | MotorControllerRec | MotorControllerBuzzerFreq | MotorControllerBack | MotorControllerRight,
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MotorControllerFrontLeftBuzzerPattern = DeviceTypeMotorController | MotorControllerRec | MotorControllerBuzzerPattern | MotorControllerFront | MotorControllerLeft,
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MotorControllerFrontRightBuzzerPattern = DeviceTypeMotorController | MotorControllerRec | MotorControllerBuzzerPattern | MotorControllerFront | MotorControllerRight,
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MotorControllerBackLeftBuzzerPattern = DeviceTypeMotorController | MotorControllerRec | MotorControllerBuzzerPattern | MotorControllerBack | MotorControllerLeft,
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MotorControllerBackRightBuzzerPattern = DeviceTypeMotorController | MotorControllerRec | MotorControllerBuzzerPattern | MotorControllerBack | MotorControllerRight,
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MotorControllerFrontLeftLed = DeviceTypeMotorController | MotorControllerRec | MotorControllerLed | MotorControllerFront | MotorControllerLeft,
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MotorControllerFrontRightLed = DeviceTypeMotorController | MotorControllerRec | MotorControllerLed | MotorControllerFront | MotorControllerRight,
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MotorControllerBackLeftLed = DeviceTypeMotorController | MotorControllerRec | MotorControllerLed | MotorControllerBack | MotorControllerLeft,
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MotorControllerBackRightLed = DeviceTypeMotorController | MotorControllerRec | MotorControllerLed | MotorControllerBack | MotorControllerRight,
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MotorControllerFrontLeftPoweroff = DeviceTypeMotorController | MotorControllerRec | MotorControllerPoweroff | MotorControllerFront | MotorControllerLeft,
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MotorControllerFrontRightPoweroff = DeviceTypeMotorController | MotorControllerRec | MotorControllerPoweroff | MotorControllerFront | MotorControllerRight,
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MotorControllerBackLeftPoweroff = DeviceTypeMotorController | MotorControllerRec | MotorControllerPoweroff | MotorControllerBack | MotorControllerLeft,
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MotorControllerBackRightPoweroff = DeviceTypeMotorController | MotorControllerRec | MotorControllerPoweroff | MotorControllerBack | MotorControllerRight,
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enum { // ....vvvvv
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DcLink = 0b00000000000 | MotorControllerFeedbackMask,
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Speed = 0b00000000100 | MotorControllerFeedbackMask,
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Error = 0b00000001000 | MotorControllerFeedbackMask,
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Angle = 0b00000001100 | MotorControllerFeedbackMask,
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DcPhaA = 0b00000010000 | MotorControllerFeedbackMask,
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DcPhaB = 0b00000010100 | MotorControllerFeedbackMask,
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DcPhaC = 0b00000011000 | MotorControllerFeedbackMask,
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Chops = 0b00000011100 | MotorControllerFeedbackMask,
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Hall = 0b00000100000 | MotorControllerFeedbackMask,
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Voltage = 0b00000100100 | MotorControllerFeedbackMask,
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Temp = 0b00000101000 | MotorControllerFeedbackMask
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};
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};
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};
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inline const char *bobbycarCanIdDesc(uint16_t id)
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{
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switch (id)
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{
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case MotorControllerFrontLeftEnable: return "MotorControllerFrontLeftEnable";
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case MotorControllerFrontRightEnable: return "MotorControllerFrontRightEnable";
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case MotorControllerBackLeftEnable: return "MotorControllerBackLeftEnable";
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case MotorControllerBackRightEnable: return "MotorControllerBackRightEnable";
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case MotorControllerFrontLeftInpTgt: return "MotorControllerFrontLeftInpTgt";
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case MotorControllerFrontRightInpTgt: return "MotorControllerFrontRightInpTgt";
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case MotorControllerBackLeftInpTgt: return "MotorControllerBackLeftInpTgt";
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case MotorControllerBackRightInpTgt: return "MotorControllerBackRightInpTgt";
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case MotorControllerFrontLeftCtrlTyp: return "MotorControllerFrontLeftCtrlTyp";
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case MotorControllerFrontRightCtrlTyp: return "MotorControllerFrontRightCtrlTyp";
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case MotorControllerBackLeftCtrlTyp: return "MotorControllerBackLeftCtrlTyp";
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case MotorControllerBackRightCtrlTyp: return "MotorControllerBackRightCtrlTyp";
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case MotorControllerFrontLeftCtrlMod: return "MotorControllerFrontLeftCtrlMod";
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case MotorControllerFrontRightCtrlMod: return "MotorControllerFrontRightCtrlMod";
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case MotorControllerBackLeftCtrlMod: return "MotorControllerBackLeftCtrlMod";
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case MotorControllerBackRightCtrlMod: return "MotorControllerBackRightCtrlMod";
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case MotorControllerFrontLeftIMotMax: return "MotorControllerFrontLeftIMotMax";
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case MotorControllerFrontRightIMotMax: return "MotorControllerFrontRightIMotMax";
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case MotorControllerBackLeftIMotMax: return "MotorControllerBackLeftIMotMax";
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case MotorControllerBackRightIMotMax: return "MotorControllerBackRightIMotMax";
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case MotorControllerFrontLeftIDcMax: return "MotorControllerFrontLeftIDcMax";
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case MotorControllerFrontRightIDcMax: return "MotorControllerFrontRightIDcMax";
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case MotorControllerBackLeftIDcMax: return "MotorControllerBackLeftIDcMax";
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case MotorControllerBackRightIDcMax: return "MotorControllerBackRightIDcMax";
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case MotorControllerFrontLeftNMotMax: return "MotorControllerFrontLeftNMotMax";
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case MotorControllerFrontRightNMotMax: return "MotorControllerFrontRightNMotMax";
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case MotorControllerBackLeftNMotMax: return "MotorControllerBackLeftNMotMax";
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case MotorControllerBackRightNMotMax: return "MotorControllerBackRightNMotMax";
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case MotorControllerFrontLeftFieldWeakMax: return "MotorControllerFrontLeftFieldWeakMax";
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case MotorControllerFrontRightFieldWeakMax: return "MotorControllerFrontRightFieldWeakMax";
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case MotorControllerBackLeftFieldWeakMax: return "MotorControllerBackLeftFieldWeakMax";
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case MotorControllerBackRightFieldWeakMax: return "MotorControllerBackRightFieldWeakMax";
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case MotorControllerFrontLeftPhaseAdvMax: return "MotorControllerFrontLeftPhaseAdvMax";
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case MotorControllerFrontRightPhaseAdvMax: return "MotorControllerFrontRightPhaseAdvMax";
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case MotorControllerBackLeftPhaseAdvMax: return "MotorControllerBackLeftPhaseAdvMax";
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case MotorControllerBackRightPhaseAdvMax: return "MotorControllerBackRightPhaseAdvMax";
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case MotorControllerFrontLeftBuzzerFreq: return "MotorControllerFrontLeftBuzzerFreq";
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case MotorControllerFrontRightBuzzerFreq: return "MotorControllerFrontRightBuzzerFreq";
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case MotorControllerBackLeftBuzzerFreq: return "MotorControllerBackLeftBuzzerFreq";
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case MotorControllerBackRightBuzzerFreq: return "MotorControllerBackRightBuzzerFreq";
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case MotorControllerFrontLeftBuzzerPattern: return "MotorControllerFrontLeftBuzzerPattern";
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case MotorControllerFrontRightBuzzerPattern: return "MotorControllerFrontRightBuzzerPattern";
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case MotorControllerBackLeftBuzzerPattern: return "MotorControllerBackLeftBuzzerPattern";
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case MotorControllerBackRightBuzzerPattern: return "MotorControllerBackRightBuzzerPattern";
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case MotorControllerFrontLeftLed: return "MotorControllerFrontLeftLed";
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case MotorControllerFrontRightLed: return "MotorControllerFrontRightLed";
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case MotorControllerBackLeftLed: return "MotorControllerBackLeftLed";
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case MotorControllerBackRightLed: return "MotorControllerBackRightLed";
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case MotorControllerFrontLeftPoweroff: return "MotorControllerFrontLeftPoweroff";
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case MotorControllerFrontRightPoweroff: return "MotorControllerFrontRightPoweroff";
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case MotorControllerBackLeftPoweroff: return "MotorControllerBackLeftPoweroff";
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case MotorControllerBackRightPoweroff: return "MotorControllerBackRightPoweroff";
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case MotorControllerFrontLeftDcLink: return "MotorControllerFrontLeftDcLink";
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case MotorControllerFrontRightDcLink: return "MotorControllerFrontRightDcLink";
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case MotorControllerBackLeftDcLink: return "MotorControllerBackLeftDcLink";
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||||
case MotorControllerBackRightDcLink: return "MotorControllerBackRightDcLink";
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case MotorControllerFrontLeftSpeed: return "MotorControllerFrontLeftSpeed";
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||||
case MotorControllerFrontRightSpeed: return "MotorControllerFrontRightSpeed";
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case MotorControllerBackLeftSpeed: return "MotorControllerBackLeftSpeed";
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||||
case MotorControllerBackRightSpeed: return "MotorControllerBackRightSpeed";
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||||
case MotorControllerFrontLeftError: return "MotorControllerFrontLeftError";
|
||||
case MotorControllerFrontRightError: return "MotorControllerFrontRightError";
|
||||
case MotorControllerBackLeftError: return "MotorControllerBackLeftError";
|
||||
case MotorControllerBackRightError: return "MotorControllerBackRightError";
|
||||
case MotorControllerFrontLeftAngle: return "MotorControllerFrontLeftAngle";
|
||||
case MotorControllerFrontRightAngle: return "MotorControllerFrontRightAngle";
|
||||
case MotorControllerBackLeftAngle: return "MotorControllerBackLeftAngle";
|
||||
case MotorControllerBackRightAngle: return "MotorControllerBackRightAngle";
|
||||
case MotorControllerFrontLeftDcPhaA: return "MotorControllerFrontLeftDcPhaA";
|
||||
case MotorControllerFrontRightDcPhaA: return "MotorControllerFrontRightDcPhaA";
|
||||
case MotorControllerBackLeftDcPhaA: return "MotorControllerBackLeftDcPhaA";
|
||||
case MotorControllerBackRightDcPhaA: return "MotorControllerBackRightDcPhaA";
|
||||
case MotorControllerFrontLeftDcPhaB: return "MotorControllerFrontLeftDcPhaB";
|
||||
case MotorControllerFrontRightDcPhaB: return "MotorControllerFrontRightDcPhaB";
|
||||
case MotorControllerBackLeftDcPhaB: return "MotorControllerBackLeftDcPhaB";
|
||||
case MotorControllerBackRightDcPhaB: return "MotorControllerBackRightDcPhaB";
|
||||
case MotorControllerFrontLeftDcPhaC: return "MotorControllerFrontLeftDcPhaC";
|
||||
case MotorControllerFrontRightDcPhaC: return "MotorControllerFrontRightDcPhaC";
|
||||
case MotorControllerBackLeftDcPhaC: return "MotorControllerBackLeftDcPhaC";
|
||||
case MotorControllerBackRightDcPhaC: return "MotorControllerBackRightDcPhaC";
|
||||
case MotorControllerFrontLeftChops: return "MotorControllerFrontLeftChops";
|
||||
case MotorControllerFrontRightChops: return "MotorControllerFrontRightChops";
|
||||
case MotorControllerBackLeftChops: return "MotorControllerBackLeftChops";
|
||||
case MotorControllerBackRightChops: return "MotorControllerBackRightChops";
|
||||
case MotorControllerFrontLeftHall: return "MotorControllerFrontLeftHall";
|
||||
case MotorControllerFrontRightHall: return "MotorControllerFrontRightHall";
|
||||
case MotorControllerBackLeftHall: return "MotorControllerBackLeftHall";
|
||||
case MotorControllerBackRightHall: return "MotorControllerBackRightHall";
|
||||
case MotorControllerFrontLeftVoltage: return "MotorControllerFrontLeftVoltage";
|
||||
case MotorControllerFrontRightVoltage: return "MotorControllerFrontRightVoltage";
|
||||
case MotorControllerBackLeftVoltage: return "MotorControllerBackLeftVoltage";
|
||||
case MotorControllerBackRightVoltage: return "MotorControllerBackRightVoltage";
|
||||
case MotorControllerFrontLeftTemp: return "MotorControllerFrontLeftTemp";
|
||||
case MotorControllerFrontRightTemp: return "MotorControllerFrontRightTemp";
|
||||
case MotorControllerBackLeftTemp: return "MotorControllerBackLeftTemp";
|
||||
case MotorControllerBackRightTemp: return "MotorControllerBackRightTemp";
|
||||
case MotorController<false, false>::Command::Enable: return "Enable (Command, Front, Left)";
|
||||
case MotorController<false, true>::Command::Enable: return "Enable (Command, Front, Right)";
|
||||
case MotorController<true, false>::Command::Enable: return "Enable (Command, Back, Left)";
|
||||
case MotorController<true, true>::Command::Enable: return "Enable (Command, Back, Right)";
|
||||
case MotorController<false, false>::Command::InpTgt: return "InpTgt (Command, Front, Left)";
|
||||
case MotorController<false, true>::Command::InpTgt: return "InpTgt (Command, Front, Right)";
|
||||
case MotorController<true, false>::Command::InpTgt: return "InpTgt (Command, Back, Left)";
|
||||
case MotorController<true, true>::Command::InpTgt: return "InpTgt (Command, Back, Right)";
|
||||
case MotorController<false, false>::Command::CtrlTyp: return "CtrlTyp (Command, Front, Left)";
|
||||
case MotorController<false, true>::Command::CtrlTyp: return "CtrlTyp (Command, Front, Right)";
|
||||
case MotorController<true, false>::Command::CtrlTyp: return "CtrlTyp (Command, Back, Left)";
|
||||
case MotorController<true, true>::Command::CtrlTyp: return "CtrlTyp (Command, Back, Right)";
|
||||
case MotorController<false, false>::Command::CtrlMod: return "CtrlMod (Command, Front, Left)";
|
||||
case MotorController<false, true>::Command::CtrlMod: return "CtrlMod (Command, Front, Right)";
|
||||
case MotorController<true, false>::Command::CtrlMod: return "CtrlMod (Command, Back, Left)";
|
||||
case MotorController<true, true>::Command::CtrlMod: return "CtrlMod (Command, Back, Right)";
|
||||
case MotorController<false, false>::Command::IMotMax: return "IMotMax (Command, Front, Left)";
|
||||
case MotorController<false, true>::Command::IMotMax: return "IMotMax (Command, Front, Right)";
|
||||
case MotorController<true, false>::Command::IMotMax: return "IMotMax (Command, Back, Left)";
|
||||
case MotorController<true, true>::Command::IMotMax: return "IMotMax (Command, Back, Right)";
|
||||
case MotorController<false, false>::Command::IDcMax: return "IDcMax (Command, Front, Left)";
|
||||
case MotorController<false, true>::Command::IDcMax: return "IDcMax (Command, Front, Right)";
|
||||
case MotorController<true, false>::Command::IDcMax: return "IDcMax (Command, Back, Left)";
|
||||
case MotorController<true, true>::Command::IDcMax: return "IDcMax (Command, Back, Right)";
|
||||
case MotorController<false, false>::Command::NMotMax: return "NMotMax (Command, Front, Left)";
|
||||
case MotorController<false, true>::Command::NMotMax: return "NMotMax (Command, Front, Right)";
|
||||
case MotorController<true, false>::Command::NMotMax: return "NMotMax (Command, Back, Left)";
|
||||
case MotorController<true, true>::Command::NMotMax: return "NMotMax (Command, Back, Right)";
|
||||
case MotorController<false, false>::Command::FieldWeakMax: return "FieldWeakMax (Command, Front, Left)";
|
||||
case MotorController<false, true>::Command::FieldWeakMax: return "FieldWeakMax (Command, Front, Right)";
|
||||
case MotorController<true, false>::Command::FieldWeakMax: return "FieldWeakMax (Command, Back, Left)";
|
||||
case MotorController<true, true>::Command::FieldWeakMax: return "FieldWeakMax (Command, Back, Right)";
|
||||
case MotorController<false, false>::Command::PhaseAdvMax: return "PhaseAdvMax (Command, Front, Left)";
|
||||
case MotorController<false, true>::Command::PhaseAdvMax: return "PhaseAdvMax (Command, Front, Right)";
|
||||
case MotorController<true, false>::Command::PhaseAdvMax: return "PhaseAdvMax (Command, Back, Left)";
|
||||
case MotorController<true, true>::Command::PhaseAdvMax: return "PhaseAdvMax (Command, Back, Right)";
|
||||
case MotorController<false, false>::Command::BuzzerFreq: return "BuzzerFreq (Command, Front, Left)";
|
||||
case MotorController<false, true>::Command::BuzzerFreq: return "BuzzerFreq (Command, Front, Right)";
|
||||
case MotorController<true, false>::Command::BuzzerFreq: return "BuzzerFreq (Command, Back, Left)";
|
||||
case MotorController<true, true>::Command::BuzzerFreq: return "BuzzerFreq (Command, Back, Right)";
|
||||
case MotorController<false, false>::Command::BuzzerPattern: return "BuzzerPattern (Command, Front, Left)";
|
||||
case MotorController<false, true>::Command::BuzzerPattern: return "BuzzerPattern (Command, Front, Right)";
|
||||
case MotorController<true, false>::Command::BuzzerPattern: return "BuzzerPattern (Command, Back, Left)";
|
||||
case MotorController<true, true>::Command::BuzzerPattern: return "BuzzerPattern (Command, Back, Right)";
|
||||
case MotorController<false, false>::Command::Led: return "Led (Command, Front, Left)";
|
||||
case MotorController<false, true>::Command::Led: return "Led (Command, Front, Right)";
|
||||
case MotorController<true, false>::Command::Led: return "Led (Command, Back, Left)";
|
||||
case MotorController<true, true>::Command::Led: return "Led (Command, Back, Right)";
|
||||
case MotorController<false, false>::Command::Poweroff: return "Poweroff (Command, Front, Left)";
|
||||
case MotorController<false, true>::Command::Poweroff: return "Poweroff (Command, Front, Right)";
|
||||
case MotorController<true, false>::Command::Poweroff: return "Poweroff (Command, Back, Left)";
|
||||
case MotorController<true, true>::Command::Poweroff: return "Poweroff (Command, Back, Right)";
|
||||
case MotorController<false, false>::Feedback::DcLink: return "DcLink (Feedback, Front, Left)";
|
||||
case MotorController<false, true>::Feedback::DcLink: return "DcLink (Feedback, Front, Right)";
|
||||
case MotorController<true, false>::Feedback::DcLink: return "DcLink (Feedback, Back, Left)";
|
||||
case MotorController<true, true>::Feedback::DcLink: return "DcLink (Feedback, Back, Right)";
|
||||
case MotorController<false, false>::Feedback::Speed: return "Speed (Feedback, Front, Left)";
|
||||
case MotorController<false, true>::Feedback::Speed: return "Speed (Feedback, Front, Right)";
|
||||
case MotorController<true, false>::Feedback::Speed: return "Speed (Feedback, Back, Left)";
|
||||
case MotorController<true, true>::Feedback::Speed: return "Speed (Feedback, Back, Right)";
|
||||
case MotorController<false, false>::Feedback::Error: return "Error (Feedback, Front, Left)";
|
||||
case MotorController<false, true>::Feedback::Error: return "Error (Feedback, Front, Right)";
|
||||
case MotorController<true, false>::Feedback::Error: return "Error (Feedback, Back, Left)";
|
||||
case MotorController<true, true>::Feedback::Error: return "Error (Feedback, Back, Right)";
|
||||
case MotorController<false, false>::Feedback::Angle: return "Angle (Feedback, Front, Left)";
|
||||
case MotorController<false, true>::Feedback::Angle: return "Angle (Feedback, Front, Right)";
|
||||
case MotorController<true, false>::Feedback::Angle: return "Angle (Feedback, Back, Left)";
|
||||
case MotorController<true, true>::Feedback::Angle: return "Angle (Feedback, Back, Right)";
|
||||
case MotorController<false, false>::Feedback::DcPhaA: return "DcPhaA (Feedback, Front, Left)";
|
||||
case MotorController<false, true>::Feedback::DcPhaA: return "DcPhaA (Feedback, Front, Right)";
|
||||
case MotorController<true, false>::Feedback::DcPhaA: return "DcPhaA (Feedback, Back, Left)";
|
||||
case MotorController<true, true>::Feedback::DcPhaA: return "DcPhaA (Feedback, Back, Right)";
|
||||
case MotorController<false, false>::Feedback::DcPhaB: return "DcPhaB (Feedback, Front, Left)";
|
||||
case MotorController<false, true>::Feedback::DcPhaB: return "DcPhaB (Feedback, Front, Right)";
|
||||
case MotorController<true, false>::Feedback::DcPhaB: return "DcPhaB (Feedback, Back, Left)";
|
||||
case MotorController<true, true>::Feedback::DcPhaB: return "DcPhaB (Feedback, Back, Right)";
|
||||
case MotorController<false, false>::Feedback::DcPhaC: return "DcPhaC (Feedback, Front, Left)";
|
||||
case MotorController<false, true>::Feedback::DcPhaC: return "DcPhaC (Feedback, Front, Right)";
|
||||
case MotorController<true, false>::Feedback::DcPhaC: return "DcPhaC (Feedback, Back, Left)";
|
||||
case MotorController<true, true>::Feedback::DcPhaC: return "DcPhaC (Feedback, Back, Right)";
|
||||
case MotorController<false, false>::Feedback::Chops: return "Chops (Feedback, Front, Left)";
|
||||
case MotorController<false, true>::Feedback::Chops: return "Chops (Feedback, Front, Right)";
|
||||
case MotorController<true, false>::Feedback::Chops: return "Chops (Feedback, Back, Left)";
|
||||
case MotorController<true, true>::Feedback::Chops: return "Chops (Feedback, Back, Right)";
|
||||
case MotorController<false, false>::Feedback::Hall: return "Hall (Feedback, Front, Left)";
|
||||
case MotorController<false, true>::Feedback::Hall: return "Hall (Feedback, Front, Right)";
|
||||
case MotorController<true, false>::Feedback::Hall: return "Hall (Feedback, Back, Left)";
|
||||
case MotorController<true, true>::Feedback::Hall: return "Hall (Feedback, Back, Right)";
|
||||
case MotorController<false, false>::Feedback::Voltage: return "Voltage (Feedback, Front, Left)";
|
||||
case MotorController<false, true>::Feedback::Voltage: return "Voltage (Feedback, Front, Right)";
|
||||
case MotorController<true, false>::Feedback::Voltage: return "Voltage (Feedback, Back, Left)";
|
||||
case MotorController<true, true>::Feedback::Voltage: return "Voltage (Feedback, Back, Right)";
|
||||
case MotorController<false, false>::Feedback::Temp: return "Temp (Feedback, Front, Left)";
|
||||
case MotorController<false, true>::Feedback::Temp: return "Temp (Feedback, Front, Right)";
|
||||
case MotorController<true, false>::Feedback::Temp: return "Temp (Feedback, Back, Left)";
|
||||
case MotorController<true, true>::Feedback::Temp: return "Temp (Feedback, Back, Right)";
|
||||
}
|
||||
return "Unknown";
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
Reference in New Issue
Block a user