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    <member kind="variable">
      <type>double</type>
      <name>velocity</name>
      <anchorfile>structMotorHardware_1_1Joint.html</anchorfile>
      <anchor>a78b535ce1e56522b6f644f1bdad3e710</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>double</type>
      <name>velocity_command</name>
      <anchorfile>structMotorHardware_1_1Joint.html</anchorfile>
      <anchor>a7ef85492b8493dab4697efdda7fb1663</anchor>
      <arglist></arglist>
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  </compound>
  <compound kind="class">
    <name>MotorMessage</name>
    <filename>classMotorMessage.html</filename>
    <member kind="enumeration">
      <name>MessageTypes</name>
      <anchorfile>classMotorMessage.html</anchorfile>
      <anchor>a3f69722e3a26e75dfe11893d3bacb0da</anchor>
      <arglist></arglist>
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    <member kind="enumvalue">
      <name>TYPE_READ</name>
      <anchorfile>classMotorMessage.html</anchorfile>
      <anchor>a3f69722e3a26e75dfe11893d3bacb0daa67071dee4418b6dd61dafcb78c2431ba</anchor>
      <arglist></arglist>
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    <member kind="enumvalue">
      <name>TYPE_WRITE</name>
      <anchorfile>classMotorMessage.html</anchorfile>
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      <arglist></arglist>
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    <member kind="enumvalue">
      <name>TYPE_RESPONSE</name>
      <anchorfile>classMotorMessage.html</anchorfile>
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      <arglist></arglist>
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    <member kind="enumeration">
      <name>Registers</name>
      <anchorfile>classMotorMessage.html</anchorfile>
      <anchor>afe0fc51da4f821d5b32b53589344ca1f</anchor>
      <arglist></arglist>
    </member>
    <member kind="enumvalue">
      <name>REG_STOP_START</name>
      <anchorfile>classMotorMessage.html</anchorfile>
      <anchor>afe0fc51da4f821d5b32b53589344ca1fa1eac4c47ded1db81f0bb6bcd214c8052</anchor>
      <arglist></arglist>
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    <member kind="enumvalue">
      <name>REG_BRAKE_STOP</name>
      <anchorfile>classMotorMessage.html</anchorfile>
      <anchor>afe0fc51da4f821d5b32b53589344ca1faf66d40e4133ef58ee4e217937096f7ee</anchor>
      <arglist></arglist>
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    <member kind="enumvalue">
      <name>REG_CRUISE_STOP</name>
      <anchorfile>classMotorMessage.html</anchorfile>
      <anchor>afe0fc51da4f821d5b32b53589344ca1fa8212e987e83a8b687da09bd184862135</anchor>
      <arglist></arglist>
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    <member kind="enumvalue">
      <name>REG_LEFT_PWM</name>
      <anchorfile>classMotorMessage.html</anchorfile>
      <anchor>afe0fc51da4f821d5b32b53589344ca1fa44e9a33d2b4a321882fc72841e70e043</anchor>
      <arglist></arglist>
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    <member kind="enumvalue">
      <name>REG_RIGHT_PWM</name>
      <anchorfile>classMotorMessage.html</anchorfile>
      <anchor>afe0fc51da4f821d5b32b53589344ca1fa565dbaf09c88eeb6c0771d91622a49e8</anchor>
      <arglist></arglist>
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    <member kind="enumvalue">
      <name>REG_LEFT_SPEED_SET</name>
      <anchorfile>classMotorMessage.html</anchorfile>
      <anchor>afe0fc51da4f821d5b32b53589344ca1fa302720c4d9fd23423bf77b655e59ff2f</anchor>
      <arglist></arglist>
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    <member kind="enumvalue">
      <name>REG_RIGHT_SPEED_SET</name>
      <anchorfile>classMotorMessage.html</anchorfile>
      <anchor>afe0fc51da4f821d5b32b53589344ca1fa35cbc70686f1bf980349483835e5deda</anchor>
      <arglist></arglist>
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    <member kind="enumvalue">
      <name>REG_LEFT_RAMP</name>
      <anchorfile>classMotorMessage.html</anchorfile>
      <anchor>afe0fc51da4f821d5b32b53589344ca1fa80fcfb01567fc69eb9899440fc598f07</anchor>
      <arglist></arglist>
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    <member kind="enumvalue">
      <name>REG_RIGHT_RAMP</name>
      <anchorfile>classMotorMessage.html</anchorfile>
      <anchor>afe0fc51da4f821d5b32b53589344ca1fabdf88629c3baadfb8feee1b82fc8a7cf</anchor>
      <arglist></arglist>
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    <member kind="enumvalue">
      <name>REG_LEFT_ODOM</name>
      <anchorfile>classMotorMessage.html</anchorfile>
      <anchor>afe0fc51da4f821d5b32b53589344ca1fa482385165f8aeab7ff5b3c39b5deb515</anchor>
      <arglist></arglist>
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    <member kind="enumvalue">
      <name>REG_RIGHT_ODOM</name>
      <anchorfile>classMotorMessage.html</anchorfile>
      <anchor>afe0fc51da4f821d5b32b53589344ca1fa5e2882fcf2774647963b0028d4c31c14</anchor>
      <arglist></arglist>
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    <member kind="enumvalue">
      <name>REG_DEADMAN</name>
      <anchorfile>classMotorMessage.html</anchorfile>
      <anchor>afe0fc51da4f821d5b32b53589344ca1fa48125c037aa5746b3c50f1d020e8da46</anchor>
      <arglist></arglist>
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    <member kind="enumvalue">
      <name>REG_LEFT_CURRENT</name>
      <anchorfile>classMotorMessage.html</anchorfile>
      <anchor>afe0fc51da4f821d5b32b53589344ca1fa4f7639597e92754a32ab0f7a08d9f441</anchor>
      <arglist></arglist>
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    <member kind="enumvalue">
      <name>REG_RIGHT_CURRENT</name>
      <anchorfile>classMotorMessage.html</anchorfile>
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      <arglist></arglist>
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    <member kind="enumvalue">
      <name>REG_ERROR_COUNT</name>
      <anchorfile>classMotorMessage.html</anchorfile>
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      <arglist></arglist>
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    <member kind="enumvalue">
      <name>REG_5V_MAIN_ERROR</name>
      <anchorfile>classMotorMessage.html</anchorfile>
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      <arglist></arglist>
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    <member kind="enumvalue">
      <name>REG_5V_AUX_ERROR</name>
      <anchorfile>classMotorMessage.html</anchorfile>
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      <arglist></arglist>
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    <member kind="enumvalue">
      <name>REG_12V_MAIN_ERROR</name>
      <anchorfile>classMotorMessage.html</anchorfile>
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      <arglist></arglist>
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    <member kind="enumvalue">
      <name>REG_12V_AUX_ERROR</name>
      <anchorfile>classMotorMessage.html</anchorfile>
      <anchor>afe0fc51da4f821d5b32b53589344ca1fa74f26617507dbf027b21650814fadd07</anchor>
      <arglist></arglist>
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    <member kind="enumvalue">
      <name>REG_5V_MAIN_OL</name>
      <anchorfile>classMotorMessage.html</anchorfile>
      <anchor>afe0fc51da4f821d5b32b53589344ca1fa48d42f6aab79facb840c638e34c15802</anchor>
      <arglist></arglist>
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    <member kind="enumvalue">
      <name>REG_5V_AUX_OL</name>
      <anchorfile>classMotorMessage.html</anchorfile>
      <anchor>afe0fc51da4f821d5b32b53589344ca1faead269348991d6de40cc87bbb03af099</anchor>
      <arglist></arglist>
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    <member kind="enumvalue">
      <name>REG_12V_MAIN_OL</name>
      <anchorfile>classMotorMessage.html</anchorfile>
      <anchor>afe0fc51da4f821d5b32b53589344ca1fa06832eaca5487a0ba28c937668d610b8</anchor>
      <arglist></arglist>
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    <member kind="enumvalue">
      <name>REG_12V_AUX_OL</name>
      <anchorfile>classMotorMessage.html</anchorfile>
      <anchor>afe0fc51da4f821d5b32b53589344ca1fa3dd7794fecbf71a98948a3a66788d77c</anchor>
      <arglist></arglist>
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    <member kind="enumvalue">
      <name>REG_LEFT_MOTOR_ERROR</name>
      <anchorfile>classMotorMessage.html</anchorfile>
      <anchor>afe0fc51da4f821d5b32b53589344ca1faffcd02ad810f1348cca80d012e3681d3</anchor>
      <arglist></arglist>
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    <member kind="enumvalue">
      <name>REG_RIGHT_MOTOR_ERROR</name>
      <anchorfile>classMotorMessage.html</anchorfile>
      <anchor>afe0fc51da4f821d5b32b53589344ca1faa5822b0f04677c3de2b1791e1b0f4897</anchor>
      <arglist></arglist>
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    <member kind="enumvalue">
      <name>REG_PARAM_P</name>
      <anchorfile>classMotorMessage.html</anchorfile>
      <anchor>afe0fc51da4f821d5b32b53589344ca1fa86ecc8014d39fff7277c28456fe3dd63</anchor>
      <arglist></arglist>
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    <member kind="enumvalue">
      <name>REG_PARAM_I</name>
      <anchorfile>classMotorMessage.html</anchorfile>
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      <arglist></arglist>
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    <member kind="enumvalue">
      <name>REG_PARAM_D</name>
      <anchorfile>classMotorMessage.html</anchorfile>
      <anchor>afe0fc51da4f821d5b32b53589344ca1fa1b12d4247d9eee55833a498706ba2f3f</anchor>
      <arglist></arglist>
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    <member kind="enumvalue">
      <name>REG_PARAM_C</name>
      <anchorfile>classMotorMessage.html</anchorfile>
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      <arglist></arglist>
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    <member kind="enumvalue">
      <name>REG_LED_1</name>
      <anchorfile>classMotorMessage.html</anchorfile>
      <anchor>afe0fc51da4f821d5b32b53589344ca1fa0063ffd92dc8acba1e9cabaedef06df4</anchor>
      <arglist></arglist>
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    <member kind="enumvalue">
      <name>REG_LED_2</name>
      <anchorfile>classMotorMessage.html</anchorfile>
      <anchor>afe0fc51da4f821d5b32b53589344ca1fa9644baeae990dfcf62d626c8b56cea11</anchor>
      <arglist></arglist>
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    <member kind="enumvalue">
      <name>REG_HARDWARE_VERSION</name>
      <anchorfile>classMotorMessage.html</anchorfile>
      <anchor>afe0fc51da4f821d5b32b53589344ca1fa2cbb0325df5be830ef677cf088ee7d2b</anchor>
      <arglist></arglist>
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    <member kind="enumvalue">
      <name>REG_FIRMWARE_VERSION</name>
      <anchorfile>classMotorMessage.html</anchorfile>
      <anchor>afe0fc51da4f821d5b32b53589344ca1fa2adad5e30af8a9114e758b618d2a2c1b</anchor>
      <arglist></arglist>
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    <member kind="enumvalue">
      <name>REG_BATTERY_VOLTAGE</name>
      <anchorfile>classMotorMessage.html</anchorfile>
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      <arglist></arglist>
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    <member kind="enumvalue">
      <name>REG_5V_MAIN_CURRENT</name>
      <anchorfile>classMotorMessage.html</anchorfile>
      <anchor>afe0fc51da4f821d5b32b53589344ca1fafcd260477de702d1c1dc97780df24efd</anchor>
      <arglist></arglist>
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    <member kind="enumvalue">
      <name>REG_12V_MAIN_CURRENT</name>
      <anchorfile>classMotorMessage.html</anchorfile>
      <anchor>afe0fc51da4f821d5b32b53589344ca1faf4ee68c423276d894ced4c69a18b98ce</anchor>
      <arglist></arglist>
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    <member kind="enumvalue">
      <name>REG_5V_AUX_CURRENT</name>
      <anchorfile>classMotorMessage.html</anchorfile>
      <anchor>afe0fc51da4f821d5b32b53589344ca1fa6ad6026106eba2da6fe6b9e0456f8da0</anchor>
      <arglist></arglist>
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    <member kind="enumvalue">
      <name>REG_12V_AUX_CURRENT</name>
      <anchorfile>classMotorMessage.html</anchorfile>
      <anchor>afe0fc51da4f821d5b32b53589344ca1faba5baf9f6cb920757cafdf9e0fc4e1d1</anchor>
      <arglist></arglist>
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    <member kind="enumvalue">
      <name>REG_LEFT_SPEED_MEASURED</name>
      <anchorfile>classMotorMessage.html</anchorfile>
      <anchor>afe0fc51da4f821d5b32b53589344ca1fabbb59cb9e9a411cadd24aec2b65caf6e</anchor>
      <arglist></arglist>
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    <member kind="enumvalue">
      <name>REG_RIGHT_SPEED_MEASURED</name>
      <anchorfile>classMotorMessage.html</anchorfile>
      <anchor>afe0fc51da4f821d5b32b53589344ca1faec548f8fdfdcd870d38b70cb7b9a5fc3</anchor>
      <arglist></arglist>
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    <member kind="function">
      <type>int</type>
      <name>deserialize</name>
      <anchorfile>classMotorMessage.html</anchorfile>
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      <arglist>(const std::vector&lt; uint8_t &gt; &amp;serialized)</arglist>
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    <member kind="function">
      <type>int32_t</type>
      <name>getData</name>
      <anchorfile>classMotorMessage.html</anchorfile>
      <anchor>aa22be43b56711abf16077231889a27d0</anchor>
      <arglist>() const </arglist>
    </member>
    <member kind="function">
      <type>MotorMessage::Registers</type>
      <name>getRegister</name>
      <anchorfile>classMotorMessage.html</anchorfile>
      <anchor>acb57eb51d9a3901d7f9bc4f60133fa45</anchor>
      <arglist>() const </arglist>
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    <member kind="function">
      <type>MotorMessage::MessageTypes</type>
      <name>getType</name>
      <anchorfile>classMotorMessage.html</anchorfile>
      <anchor>afe5572cb54e982d94e2fe197fb3304a6</anchor>
      <arglist>() const </arglist>
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    <member kind="function">
      <type></type>
      <name>MotorMessage</name>
      <anchorfile>classMotorMessage.html</anchorfile>
      <anchor>ae565755c0ac801638305e6ffab7e0ae9</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function">
      <type>std::vector&lt; uint8_t &gt;</type>
      <name>serialize</name>
      <anchorfile>classMotorMessage.html</anchorfile>
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      <arglist>() const </arglist>
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    <member kind="function">
      <type>void</type>
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      <anchorfile>classMotorMessage.html</anchorfile>
      <anchor>af7960a51437645d40d8c6d289be85b45</anchor>
      <arglist>(int32_t data)</arglist>
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    <member kind="function">
      <type>void</type>
      <name>setRegister</name>
      <anchorfile>classMotorMessage.html</anchorfile>
      <anchor>aa5766f19a29f28a4126ffa24c4f85f46</anchor>
      <arglist>(MotorMessage::Registers reg)</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>setType</name>
      <anchorfile>classMotorMessage.html</anchorfile>
      <anchor>abe171da50a15ca0f7def950476d31828</anchor>
      <arglist>(MotorMessage::MessageTypes type)</arglist>
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    <member kind="function">
      <type></type>
      <name>~MotorMessage</name>
      <anchorfile>classMotorMessage.html</anchorfile>
      <anchor>a452503e64f670c0379cc7382055ba906</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function" protection="private" static="yes">
      <type>static uint8_t</type>
      <name>generateChecksum</name>
      <anchorfile>classMotorMessage.html</anchorfile>
      <anchor>a64f149cd28366989223441d5a89a5708</anchor>
      <arglist>(const std::vector&lt; uint8_t &gt; &amp;data)</arglist>
    </member>
    <member kind="function" protection="private" static="yes">
      <type>static int</type>
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      <anchorfile>classMotorMessage.html</anchorfile>
      <anchor>aa28d0b431df39e753a0f11d9a273d576</anchor>
      <arglist>(uint8_t r)</arglist>
    </member>
    <member kind="function" protection="private" static="yes">
      <type>static int</type>
      <name>verifyType</name>
      <anchorfile>classMotorMessage.html</anchorfile>
      <anchor>a736fa691258e0e2564006f8206bdd674</anchor>
      <arglist>(uint8_t t)</arglist>
    </member>
    <member kind="variable" protection="private">
      <type>uint8_t</type>
      <name>data</name>
      <anchorfile>classMotorMessage.html</anchorfile>
      <anchor>a00d90b687dfe2bd6858dabfcafe6354c</anchor>
      <arglist>[4]</arglist>
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    <member kind="variable" protection="private">
      <type>uint8_t</type>
      <name>register_addr</name>
      <anchorfile>classMotorMessage.html</anchorfile>
      <anchor>a206eb7352f32af82d41c11f0f79bc03c</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="private">
      <type>uint8_t</type>
      <name>type</name>
      <anchorfile>classMotorMessage.html</anchorfile>
      <anchor>ade67d30c3aad6095aaff340a0dd5a5c3</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="private" static="yes">
      <type>static const uint8_t</type>
      <name>delimeter</name>
      <anchorfile>classMotorMessage.html</anchorfile>
      <anchor>ae758e20053646fb584b1a89bed855c34</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="private" static="yes">
      <type>static const uint8_t</type>
      <name>protocol_version</name>
      <anchorfile>classMotorMessage.html</anchorfile>
      <anchor>a197bd48f0a855640afb180e6ba69647d</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="private" static="yes">
      <type>static const uint8_t</type>
      <name>valid_registers</name>
      <anchorfile>classMotorMessage.html</anchorfile>
      <anchor>adcc80a082c59d4ce43e052654e41e5d7</anchor>
      <arglist>[]</arglist>
    </member>
    <member kind="variable" protection="private" static="yes">
      <type>static const uint8_t</type>
      <name>valid_types</name>
      <anchorfile>classMotorMessage.html</anchorfile>
      <anchor>ae0897dab13f4fa3396ac44125fbd244a</anchor>
      <arglist>[]</arglist>
    </member>
  </compound>
  <compound kind="class">
    <name>MotorSerial</name>
    <filename>classMotorSerial.html</filename>
    <member kind="function">
      <type>int</type>
      <name>commandAvailable</name>
      <anchorfile>classMotorSerial.html</anchorfile>
      <anchor>a37bed22931062eab79a0ff3c2e0a7535</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function">
      <type></type>
      <name>MotorSerial</name>
      <anchorfile>classMotorSerial.html</anchorfile>
      <anchor>a0beda89639984f45996b73dbf502fdd6</anchor>
      <arglist>(const std::string &amp;port=&quot;/dev/ttyUSB0&quot;, uint32_t baud_rate=9600, double loopRate=100)</arglist>
    </member>
    <member kind="function">
      <type>MotorMessage</type>
      <name>receiveCommand</name>
      <anchorfile>classMotorSerial.html</anchorfile>
      <anchor>ab830661f0ff75d3e3e1bea7a817c494b</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function">
      <type>int</type>
      <name>transmitCommand</name>
      <anchorfile>classMotorSerial.html</anchorfile>
      <anchor>ae7d1303be532af56cd0ec2fa90bb56b8</anchor>
      <arglist>(MotorMessage command)</arglist>
    </member>
    <member kind="function">
      <type>int</type>
      <name>transmitCommands</name>
      <anchorfile>classMotorSerial.html</anchorfile>
      <anchor>ae8a2017d3cb5789df4a0c84ea10bfb42</anchor>
      <arglist>(std::vector&lt; MotorMessage &gt; commands)</arglist>
    </member>
    <member kind="function">
      <type></type>
      <name>~MotorSerial</name>
      <anchorfile>classMotorSerial.html</anchorfile>
      <anchor>a4ed005d7439c658bbdff3855acef9331</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function" protection="private">
      <type>void</type>
      <name>appendOutput</name>
      <anchorfile>classMotorSerial.html</anchorfile>
      <anchor>a92617d99381da30e47bc87519ecf04de</anchor>
      <arglist>(MotorMessage command)</arglist>
    </member>
    <member kind="function" protection="private">
      <type>MotorMessage</type>
      <name>getInputCommand</name>
      <anchorfile>classMotorSerial.html</anchorfile>
      <anchor>a7d8457d45aea0a29d93acedfdb1ab84f</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function" protection="private">
      <type>int</type>
      <name>inputAvailable</name>
      <anchorfile>classMotorSerial.html</anchorfile>
      <anchor>addac2cbaa5787faf0355694b979423cd</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function" protection="private">
      <type>void</type>
      <name>SerialThread</name>
      <anchorfile>classMotorSerial.html</anchorfile>
      <anchor>adce88d0f63c49cc205b944de5fd3206b</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="variable" protection="private">
      <type>uint32_t</type>
      <name>_baud_rate</name>
      <anchorfile>classMotorSerial.html</anchorfile>
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