Class Device

Namespace: Harp.Behavior

Assembly: Harp.Behavior.dll

Represents an observable source of messages from the Harp device connected at the specified serial port.

Use the Harp device pattern to initialize the device, log data, and send commands to and receive messages from the Behavior board.

Harp Device Pattern

Check out the following in-depth guides to learn how to access the device functionality with the Harp.Behavior package:

Refer to the register table below for a complete listing of the available registers on the device.

Behavior
whoAmI	1216
firmwareVersion	3.3
hardwareTargets	2.0

Registers

name	address	type	length	access	description	range	interfaceType
DigitalInputState	32	U8		Event	Reflects the state of DI digital lines of each Port		DigitalInputs
OutputSet	34	U16		Write	Set the specified digital output lines.		DigitalOutputs
OutputClear	35	U16		Write	Clear the specified digital output lines		DigitalOutputs
OutputToggle	36	U16		Write	Toggle the specified digital output lines		DigitalOutputs
OutputState	37	U16		Write	Write the state of all digital output lines		DigitalOutputs
PortDIOSet	38	U8		Write	Set the specified port DIO lines. This functionality has not yet been implemented		PortDigitalIOS
PortDIOClear	39	U8		Write	Clear the specified port DIO lines. This functionality has not yet been implemented		PortDigitalIOS
PortDIOToggle	40	U8		Write	Toggle the specified port DIO lines. This functionality has not yet been implemented		PortDigitalIOS
PortDIOState	41	U8		Write	Write the state of all port DIO lines. This functionality has not yet been implemented		PortDigitalIOS
PortDIODirection	42	U8		Write	Specifies which of the port DIO lines are outputs. This functionality has not yet been implemented		PortDigitalIOS
PortDIOStateEvent	43	U8		Event	Specifies the state of the port DIO lines on a line change		PortDigitalIOS
AnalogData	44	S16	3	Event	Voltage at the ADC input and encoder value on Port 2		AnalogDataPayload
OutputPulseEnable	45	U16		Write	Enables the pulse function for the specified output lines		DigitalOutputs
PulseDOPort0	46	U16		Write	Specifies the duration of the output pulse in milliseconds.	[1:]
PulseDOPort1	47	U16		Write	Specifies the duration of the output pulse in milliseconds.	[1:]
PulseDOPort2	48	U16		Write	Specifies the duration of the output pulse in milliseconds.	[1:]
PulseSupplyPort0	49	U16		Write	Specifies the duration of the output pulse in milliseconds.	[1:]
PulseSupplyPort1	50	U16		Write	Specifies the duration of the output pulse in milliseconds.	[1:]
PulseSupplyPort2	51	U16		Write	Specifies the duration of the output pulse in milliseconds.	[1:]
PulseLed0	52	U16		Write	Specifies the duration of the output pulse in milliseconds.	[1:]
PulseLed1	53	U16		Write	Specifies the duration of the output pulse in milliseconds.	[1:]
PulseRgb0	54	U16		Write	Specifies the duration of the output pulse in milliseconds.	[1:]
PulseRgb1	55	U16		Write	Specifies the duration of the output pulse in milliseconds.	[1:]
PulseDO0	56	U16		Write	Specifies the duration of the output pulse in milliseconds.	[1:]
PulseDO1	57	U16		Write	Specifies the duration of the output pulse in milliseconds.	[1:]
PulseDO2	58	U16		Write	Specifies the duration of the output pulse in milliseconds.	[1:]
PulseDO3	59	U16		Write	Specifies the duration of the output pulse in milliseconds.	[1:]
PwmFrequencyDO0	60	U16		Write	Specifies the frequency of the PWM at DO0.	[1:]
PwmFrequencyDO1	61	U16		Write	Specifies the frequency of the PWM at DO1.	[1:]
PwmFrequencyDO2	62	U16		Write	Specifies the frequency of the PWM at DO2.	[1:]
PwmFrequencyDO3	63	U16		Write	Specifies the frequency of the PWM at DO3.	[1:]
PwmDutyCycleDO0	64	U8		Write	Specifies the duty cycle of the PWM at DO0.	[1:99]
PwmDutyCycleDO1	65	U8		Write	Specifies the duty cycle of the PWM at DO1.	[1:99]
PwmDutyCycleDO2	66	U8		Write	Specifies the duty cycle of the PWM at DO2.	[1:99]
PwmDutyCycleDO3	67	U8		Write	Specifies the duty cycle of the PWM at DO3.	[1:99]
PwmStart	68	U8		Write	Starts the PWM on the selected output lines.		PwmOutputs
PwmStop	69	U8		Write	Stops the PWM on the selected output lines.		PwmOutputs
RgbAll	70	U8	6	Write	Specifies the state of all RGB LED channels.		RgbAllPayload
Rgb0	71	U8	3	Write	Specifies the state of the RGB0 LED channels.		RgbPayload
Rgb1	72	U8	3	Write	Specifies the state of the RGB1 LED channels.		RgbPayload
Led0Current	73	U8		Write	Specifies the configuration of current to drive LED 0.	[2:100]
Led1Current	74	U8		Write	Specifies the configuration of current to drive LED 1.	[2:100]
Led0MaxCurrent	75	U8		Write	Specifies the configuration of current to drive LED 0.	[5:100]
Led1MaxCurrent	76	U8		Write	Specifies the configuration of current to drive LED 1.	[5:100]
EventEnable	77	U8		Write	Specifies the active events in the device.		Events
StartCameras	78	U8		Write	Specifies the camera outputs to enable in the device.		CameraOutputs
StopCameras	79	U8		Write, Event	Specifies the camera outputs to disable in the device. An event will be issued when the trigger signal is actually stopped being generated.		CameraOutputs
EnableServos	80	U8		Write	Specifies the servo outputs to enable in the device.		ServoOutputs
DisableServos	81	U8		Write	Specifies the servo outputs to disable in the device.		ServoOutputs
EnableEncoders	82	U8		Write	Specifies the port quadrature counters to enable in the device.		EncoderInputs
EncoderMode	83	U8		Write	Configures the operation mode of the quadrature encoders.		EncoderModeMask
Camera0Frame	92	U8		Event	Specifies that a frame was acquired on camera 0.		FrameAcquired
Camera0Frequency	93	U16		Write	Specifies the trigger frequency for camera 0.	[1:600]
Camera1Frame	94	U8		Event	Specifies that a frame was acquired on camera 1.		FrameAcquired
Camera1Frequency	95	U16		Write	Specifies the trigger frequency for camera 1.	[1:600]
ServoMotor2Period	100	U16		Write	Specifies the period of the servo motor in DO2, in microseconds.	[2:65534]
ServoMotor2Pulse	101	U16		Write	Specifies the pulse of the servo motor in DO2, in microseconds.	[6:65530]
ServoMotor3Period	102	U16		Write	Specifies the period of the servo motor in DO3, in microseconds.	[2:65534]
ServoMotor3Pulse	103	U16		Write	Specifies the pulse of the servo motor in DO3, in microseconds.	[6:65530]
EncoderReset	108	U8		Write	Reset the counter of the specified encoders to zero.		EncoderInputs
EnableSerialTimestamp	110	U8		Write	Enables the timestamp for serial TX.		SerialTimestampPorts
MimicPort0IR	111	U8		Write	Specifies the digital output to mimic the Port 0 IR state.		MimicOutput
MimicPort1IR	112	U8		Write	Specifies the digital output to mimic the Port 1 IR state.		MimicOutput
MimicPort2IR	113	U8		Write	Specifies the digital output to mimic the Port 2 IR state.		MimicOutput
MimicPort0Valve	117	U8		Write	Specifies the digital output to mimic the Port 0 valve state.		MimicOutput
MimicPort1Valve	118	U8		Write	Specifies the digital output to mimic the Port 1 valve state.		MimicOutput
MimicPort2Valve	119	U8		Write	Specifies the digital output to mimic the Port 2 valve state.		MimicOutput
PokeInputFilter	122	U8		Write	Specifies the low pass filter time value for poke inputs, in ms.

[Combinator(MethodName = "Generate")]
[WorkflowElementCategory(ElementCategory.Source)]
public class Device : Device, INamedElement

Inheritance: object

Source<HarpMessage>

Device

Device

Implements: INamedElement

Inherited Members: Device.Generate()

Device.Generate(IObservable<HarpMessage>)

Device.OperationMode

Device.OperationLed

Device.DumpRegisters

Device.VisualIndicators

Device.Heartbeat

Device.IgnoreErrors

Device.PortName

object.ToString()

object.Equals(object)

object.Equals(object, object)

object.ReferenceEquals(object, object)

object.GetHashCode()

object.GetType()

object.MemberwiseClone()

Constructors

Device(): Initializes a new instance of the Device class.

Fields

Metadata: Gets the contents of the metadata file describing the Harp.Behavior device registers.

WhoAmI: Represents the unique identity class of the Harp.Behavior device. This field is constant.

Properties

RegisterMap: Gets a read-only mapping from address to register type.

Methods