Namespace Harp.Behavior
Harp Behavior
This is a multi-purpose device tailored to behavioral experiments. It allows control of pokes, RGB LEDs, LEDs, cameras, servo motors and a quadrature counter.
Key Features
- Enable pulse and configure duration for each output
- Support for PWM configuration (frequency up to 10KHz and duty cycle)
- LED current (up to 100mA) and maximum nominal current configuration
- Up to 2 cameras controlling (DO0 and DO1)
- Up to 2 servo motors (DO2 and DO3)
- Up to 1 quadrature counter (Port2) (Note: Port0 and Port1 can also act as quadrature counters but this is a request feature)
Connectivity
- 1x clock sync input (CLKIN) [stereo jack]
- 1x USB (for computer) [USB type B]
- 1x 12V supply [barrel connector jack]
- 3x poke connectors (LED+12V valve) (Poke0, Poke1, Poke2) [RJ45]
- 2x LEDs outputs (5V) (LED0, LED1) [screw terminal]
- 2x RGB LEDs outputs (5V) (RGB0, RGB1) [flick lock 3x male pins]
- 4x general purpose digital outputs with PWM (5V) (DO0-DO3) [screw terminal]
- 1x ADC (5V) [screw terminal]
Interface
The interface with the Harp Behavior can be done through Bonsai or a dedicated GUI (Graphical User Interface).
In order to use this GUI, there are some software that needs to be installed:
1 - Install the drivers.
2 - Install the runtime.
3 - Reboot the computer.
4 - Install the GUI.
Licensing
Each subdirectory will contain a license or, possibly, a set of licenses if it involves both hardware and software.
| Behavior | |
|---|---|
| whoAmI | 1216 |
| firmwareVersion | 3.2 |
| hardwareTargets | 1.1 |
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 | PortDigitalIOS | ||
| PortDIOClear | 39 | U8 | Write | Clear the specified port DIO lines | PortDigitalIOS | ||
| PortDIOToggle | 40 | U8 | Write | Toggle the specified port DIO lines | PortDigitalIOS | ||
| PortDIOState | 41 | U8 | Write | Write the state of all port DIO lines | PortDigitalIOS | ||
| PortDIODirection | 42 | U8 | Write | Specifies which of the port DIO lines are outputs | 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 | Specifies the camera outputs to disable in the device. | 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. | EncoderModeConfig | ||
| 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. | |||
| 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. |
Classes
- AnalogData
Represents a register that voltage at the ADC input and encoder value on Port 2.
- AsyncDevice
Represents an asynchronous API to configure and interface with Behavior devices.
- Camera0Frame
Represents a register that specifies that a frame was acquired on camera 0.
- Camera0Frequency
Represents a register that specifies the trigger frequency for camera 0.
- Camera1Frame
Represents a register that specifies that a frame was acquired on camera 1.
- Camera1Frequency
Represents a register that specifies the trigger frequency for camera 1.
- CreateAnalogDataPayload
Represents an operator that creates a message payload that voltage at the ADC input and encoder value on Port 2.
- CreateCamera0FramePayload
Represents an operator that creates a message payload that specifies that a frame was acquired on camera 0.
- CreateCamera0FrequencyPayload
Represents an operator that creates a message payload that specifies the trigger frequency for camera 0.
- CreateCamera1FramePayload
Represents an operator that creates a message payload that specifies that a frame was acquired on camera 1.
- CreateCamera1FrequencyPayload
Represents an operator that creates a message payload that specifies the trigger frequency for camera 1.
- CreateDigitalInputStatePayload
Represents an operator that creates a message payload that reflects the state of DI digital lines of each Port.
- CreateDisableServosPayload
Represents an operator that creates a message payload that specifies the servo outputs to disable in the device.
- CreateEnableEncodersPayload
Represents an operator that creates a message payload that specifies the port quadrature counters to enable in the device.
- CreateEnableSerialTimestampPayload
Represents an operator that creates a message payload that enables the timestamp for serial TX.
- CreateEnableServosPayload
Represents an operator that creates a message payload that specifies the servo outputs to enable in the device.
- CreateEncoderModePayload
Represents an operator that creates a message payload that configures the operation mode of the quadrature encoders.
- CreateEncoderResetPayload
Represents an operator that creates a message payload that reset the counter of the specified encoders to zero.
- CreateEventEnablePayload
Represents an operator that creates a message payload that specifies the active events in the device.
- CreateLed0CurrentPayload
Represents an operator that creates a message payload that specifies the configuration of current to drive LED 0.
- CreateLed0MaxCurrentPayload
Represents an operator that creates a message payload that specifies the configuration of current to drive LED 0.
- CreateLed1CurrentPayload
Represents an operator that creates a message payload that specifies the configuration of current to drive LED 1.
- CreateLed1MaxCurrentPayload
Represents an operator that creates a message payload that specifies the configuration of current to drive LED 1.
- CreateMessage
Represents an operator which creates standard message payloads for the Behavior device.
- CreateMimicPort0IRPayload
Represents an operator that creates a message payload that specifies the digital output to mimic the Port 0 IR state.
- CreateMimicPort0ValvePayload
Represents an operator that creates a message payload that specifies the digital output to mimic the Port 0 valve state.
- CreateMimicPort1IRPayload
Represents an operator that creates a message payload that specifies the digital output to mimic the Port 1 IR state.
- CreateMimicPort1ValvePayload
Represents an operator that creates a message payload that specifies the digital output to mimic the Port 1 valve state.
- CreateMimicPort2IRPayload
Represents an operator that creates a message payload that specifies the digital output to mimic the Port 2 IR state.
- CreateMimicPort2ValvePayload
Represents an operator that creates a message payload that specifies the digital output to mimic the Port 2 valve state.
- CreateOutputClearPayload
Represents an operator that creates a message payload that clear the specified digital output lines.
- CreateOutputPulseEnablePayload
Represents an operator that creates a message payload that enables the pulse function for the specified output lines.
- CreateOutputSetPayload
Represents an operator that creates a message payload that set the specified digital output lines.
- CreateOutputStatePayload
Represents an operator that creates a message payload that write the state of all digital output lines.
- CreateOutputTogglePayload
Represents an operator that creates a message payload that toggle the specified digital output lines.
- CreatePokeInputFilterPayload
Represents an operator that creates a message payload that specifies the low pass filter time value for poke inputs, in ms.
- CreatePortDIOClearPayload
Represents an operator that creates a message payload that clear the specified port DIO lines.
- CreatePortDIODirectionPayload
Represents an operator that creates a message payload that specifies which of the port DIO lines are outputs.
- CreatePortDIOSetPayload
Represents an operator that creates a message payload that set the specified port DIO lines.
- CreatePortDIOStateEventPayload
Represents an operator that creates a message payload that specifies the state of the port DIO lines on a line change.
- CreatePortDIOStatePayload
Represents an operator that creates a message payload that write the state of all port DIO lines.
- CreatePortDIOTogglePayload
Represents an operator that creates a message payload that toggle the specified port DIO lines.
- CreatePulseDO0Payload
Represents an operator that creates a message payload that specifies the duration of the output pulse in milliseconds.
- CreatePulseDO1Payload
Represents an operator that creates a message payload that specifies the duration of the output pulse in milliseconds.
- CreatePulseDO2Payload
Represents an operator that creates a message payload that specifies the duration of the output pulse in milliseconds.
- CreatePulseDO3Payload
Represents an operator that creates a message payload that specifies the duration of the output pulse in milliseconds.
- CreatePulseDOPort0Payload
Represents an operator that creates a message payload that specifies the duration of the output pulse in milliseconds.
- CreatePulseDOPort1Payload
Represents an operator that creates a message payload that specifies the duration of the output pulse in milliseconds.
- CreatePulseDOPort2Payload
Represents an operator that creates a message payload that specifies the duration of the output pulse in milliseconds.
- CreatePulseLed0Payload
Represents an operator that creates a message payload that specifies the duration of the output pulse in milliseconds.
- CreatePulseLed1Payload
Represents an operator that creates a message payload that specifies the duration of the output pulse in milliseconds.
- CreatePulseRgb0Payload
Represents an operator that creates a message payload that specifies the duration of the output pulse in milliseconds.
- CreatePulseRgb1Payload
Represents an operator that creates a message payload that specifies the duration of the output pulse in milliseconds.
- CreatePulseSupplyPort0Payload
Represents an operator that creates a message payload that specifies the duration of the output pulse in milliseconds.
- CreatePulseSupplyPort1Payload
Represents an operator that creates a message payload that specifies the duration of the output pulse in milliseconds.
- CreatePulseSupplyPort2Payload
Represents an operator that creates a message payload that specifies the duration of the output pulse in milliseconds.
- CreatePwmDutyCycleDO0Payload
Represents an operator that creates a message payload that specifies the duty cycle of the PWM at DO0.
- CreatePwmDutyCycleDO1Payload
Represents an operator that creates a message payload that specifies the duty cycle of the PWM at DO1.
- CreatePwmDutyCycleDO2Payload
Represents an operator that creates a message payload that specifies the duty cycle of the PWM at DO2.
- CreatePwmDutyCycleDO3Payload
Represents an operator that creates a message payload that specifies the duty cycle of the PWM at DO3.
- CreatePwmFrequencyDO0Payload
Represents an operator that creates a message payload that specifies the frequency of the PWM at DO0.
- CreatePwmFrequencyDO1Payload
Represents an operator that creates a message payload that specifies the frequency of the PWM at DO1.
- CreatePwmFrequencyDO2Payload
Represents an operator that creates a message payload that specifies the frequency of the PWM at DO2.
- CreatePwmFrequencyDO3Payload
Represents an operator that creates a message payload that specifies the frequency of the PWM at DO3.
- CreatePwmStartPayload
Represents an operator that creates a message payload that starts the PWM on the selected output lines.
- CreatePwmStopPayload
Represents an operator that creates a message payload that stops the PWM on the selected output lines.
- CreateRgb0Payload
Represents an operator that creates a message payload that specifies the state of the RGB0 LED channels.
- CreateRgb1Payload
Represents an operator that creates a message payload that specifies the state of the RGB1 LED channels.
- CreateRgbAllPayload
Represents an operator that creates a message payload that specifies the state of all RGB LED channels.
- CreateServoMotor2PeriodPayload
Represents an operator that creates a message payload that specifies the period of the servo motor in DO2, in microseconds.
- CreateServoMotor2PulsePayload
Represents an operator that creates a message payload that specifies the pulse of the servo motor in DO2, in microseconds.
- CreateServoMotor3PeriodPayload
Represents an operator that creates a message payload that specifies the period of the servo motor in DO3, in microseconds.
- CreateServoMotor3PulsePayload
Represents an operator that creates a message payload that specifies the pulse of the servo motor in DO3, in microseconds.
- CreateStartCamerasPayload
Represents an operator that creates a message payload that specifies the camera outputs to enable in the device.
- CreateStopCamerasPayload
Represents an operator that creates a message payload that specifies the camera outputs to disable in the device.
- CreateTimestampedAnalogDataPayload
Represents an operator that creates a timestamped message payload that voltage at the ADC input and encoder value on Port 2.
- CreateTimestampedCamera0FramePayload
Represents an operator that creates a timestamped message payload that specifies that a frame was acquired on camera 0.
- CreateTimestampedCamera0FrequencyPayload
Represents an operator that creates a timestamped message payload that specifies the trigger frequency for camera 0.
- CreateTimestampedCamera1FramePayload
Represents an operator that creates a timestamped message payload that specifies that a frame was acquired on camera 1.
- CreateTimestampedCamera1FrequencyPayload
Represents an operator that creates a timestamped message payload that specifies the trigger frequency for camera 1.
- CreateTimestampedDigitalInputStatePayload
Represents an operator that creates a timestamped message payload that reflects the state of DI digital lines of each Port.
- CreateTimestampedDisableServosPayload
Represents an operator that creates a timestamped message payload that specifies the servo outputs to disable in the device.
- CreateTimestampedEnableEncodersPayload
Represents an operator that creates a timestamped message payload that specifies the port quadrature counters to enable in the device.
- CreateTimestampedEnableSerialTimestampPayload
Represents an operator that creates a timestamped message payload that enables the timestamp for serial TX.
- CreateTimestampedEnableServosPayload
Represents an operator that creates a timestamped message payload that specifies the servo outputs to enable in the device.
- CreateTimestampedEncoderModePayload
Represents an operator that creates a timestamped message payload that configures the operation mode of the quadrature encoders.
- CreateTimestampedEncoderResetPayload
Represents an operator that creates a timestamped message payload that reset the counter of the specified encoders to zero.
- CreateTimestampedEventEnablePayload
Represents an operator that creates a timestamped message payload that specifies the active events in the device.
- CreateTimestampedLed0CurrentPayload
Represents an operator that creates a timestamped message payload that specifies the configuration of current to drive LED 0.
- CreateTimestampedLed0MaxCurrentPayload
Represents an operator that creates a timestamped message payload that specifies the configuration of current to drive LED 0.
- CreateTimestampedLed1CurrentPayload
Represents an operator that creates a timestamped message payload that specifies the configuration of current to drive LED 1.
- CreateTimestampedLed1MaxCurrentPayload
Represents an operator that creates a timestamped message payload that specifies the configuration of current to drive LED 1.
- CreateTimestampedMimicPort0IRPayload
Represents an operator that creates a timestamped message payload that specifies the digital output to mimic the Port 0 IR state.
- CreateTimestampedMimicPort0ValvePayload
Represents an operator that creates a timestamped message payload that specifies the digital output to mimic the Port 0 valve state.
- CreateTimestampedMimicPort1IRPayload
Represents an operator that creates a timestamped message payload that specifies the digital output to mimic the Port 1 IR state.
- CreateTimestampedMimicPort1ValvePayload
Represents an operator that creates a timestamped message payload that specifies the digital output to mimic the Port 1 valve state.
- CreateTimestampedMimicPort2IRPayload
Represents an operator that creates a timestamped message payload that specifies the digital output to mimic the Port 2 IR state.
- CreateTimestampedMimicPort2ValvePayload
Represents an operator that creates a timestamped message payload that specifies the digital output to mimic the Port 2 valve state.
- CreateTimestampedOutputClearPayload
Represents an operator that creates a timestamped message payload that clear the specified digital output lines.
- CreateTimestampedOutputPulseEnablePayload
Represents an operator that creates a timestamped message payload that enables the pulse function for the specified output lines.
- CreateTimestampedOutputSetPayload
Represents an operator that creates a timestamped message payload that set the specified digital output lines.
- CreateTimestampedOutputStatePayload
Represents an operator that creates a timestamped message payload that write the state of all digital output lines.
- CreateTimestampedOutputTogglePayload
Represents an operator that creates a timestamped message payload that toggle the specified digital output lines.
- CreateTimestampedPokeInputFilterPayload
Represents an operator that creates a timestamped message payload that specifies the low pass filter time value for poke inputs, in ms.
- CreateTimestampedPortDIOClearPayload
Represents an operator that creates a timestamped message payload that clear the specified port DIO lines.
- CreateTimestampedPortDIODirectionPayload
Represents an operator that creates a timestamped message payload that specifies which of the port DIO lines are outputs.
- CreateTimestampedPortDIOSetPayload
Represents an operator that creates a timestamped message payload that set the specified port DIO lines.
- CreateTimestampedPortDIOStateEventPayload
Represents an operator that creates a timestamped message payload that specifies the state of the port DIO lines on a line change.
- CreateTimestampedPortDIOStatePayload
Represents an operator that creates a timestamped message payload that write the state of all port DIO lines.
- CreateTimestampedPortDIOTogglePayload
Represents an operator that creates a timestamped message payload that toggle the specified port DIO lines.
- CreateTimestampedPulseDO0Payload
Represents an operator that creates a timestamped message payload that specifies the duration of the output pulse in milliseconds.
- CreateTimestampedPulseDO1Payload
Represents an operator that creates a timestamped message payload that specifies the duration of the output pulse in milliseconds.
- CreateTimestampedPulseDO2Payload
Represents an operator that creates a timestamped message payload that specifies the duration of the output pulse in milliseconds.
- CreateTimestampedPulseDO3Payload
Represents an operator that creates a timestamped message payload that specifies the duration of the output pulse in milliseconds.
- CreateTimestampedPulseDOPort0Payload
Represents an operator that creates a timestamped message payload that specifies the duration of the output pulse in milliseconds.
- CreateTimestampedPulseDOPort1Payload
Represents an operator that creates a timestamped message payload that specifies the duration of the output pulse in milliseconds.
- CreateTimestampedPulseDOPort2Payload
Represents an operator that creates a timestamped message payload that specifies the duration of the output pulse in milliseconds.
- CreateTimestampedPulseLed0Payload
Represents an operator that creates a timestamped message payload that specifies the duration of the output pulse in milliseconds.
- CreateTimestampedPulseLed1Payload
Represents an operator that creates a timestamped message payload that specifies the duration of the output pulse in milliseconds.
- CreateTimestampedPulseRgb0Payload
Represents an operator that creates a timestamped message payload that specifies the duration of the output pulse in milliseconds.
- CreateTimestampedPulseRgb1Payload
Represents an operator that creates a timestamped message payload that specifies the duration of the output pulse in milliseconds.
- CreateTimestampedPulseSupplyPort0Payload
Represents an operator that creates a timestamped message payload that specifies the duration of the output pulse in milliseconds.
- CreateTimestampedPulseSupplyPort1Payload
Represents an operator that creates a timestamped message payload that specifies the duration of the output pulse in milliseconds.
- CreateTimestampedPulseSupplyPort2Payload
Represents an operator that creates a timestamped message payload that specifies the duration of the output pulse in milliseconds.
- CreateTimestampedPwmDutyCycleDO0Payload
Represents an operator that creates a timestamped message payload that specifies the duty cycle of the PWM at DO0.
- CreateTimestampedPwmDutyCycleDO1Payload
Represents an operator that creates a timestamped message payload that specifies the duty cycle of the PWM at DO1.
- CreateTimestampedPwmDutyCycleDO2Payload
Represents an operator that creates a timestamped message payload that specifies the duty cycle of the PWM at DO2.
- CreateTimestampedPwmDutyCycleDO3Payload
Represents an operator that creates a timestamped message payload that specifies the duty cycle of the PWM at DO3.
- CreateTimestampedPwmFrequencyDO0Payload
Represents an operator that creates a timestamped message payload that specifies the frequency of the PWM at DO0.
- CreateTimestampedPwmFrequencyDO1Payload
Represents an operator that creates a timestamped message payload that specifies the frequency of the PWM at DO1.
- CreateTimestampedPwmFrequencyDO2Payload
Represents an operator that creates a timestamped message payload that specifies the frequency of the PWM at DO2.
- CreateTimestampedPwmFrequencyDO3Payload
Represents an operator that creates a timestamped message payload that specifies the frequency of the PWM at DO3.
- CreateTimestampedPwmStartPayload
Represents an operator that creates a timestamped message payload that starts the PWM on the selected output lines.
- CreateTimestampedPwmStopPayload
Represents an operator that creates a timestamped message payload that stops the PWM on the selected output lines.
- CreateTimestampedRgb0Payload
Represents an operator that creates a timestamped message payload that specifies the state of the RGB0 LED channels.
- CreateTimestampedRgb1Payload
Represents an operator that creates a timestamped message payload that specifies the state of the RGB1 LED channels.
- CreateTimestampedRgbAllPayload
Represents an operator that creates a timestamped message payload that specifies the state of all RGB LED channels.
- CreateTimestampedServoMotor2PeriodPayload
Represents an operator that creates a timestamped message payload that specifies the period of the servo motor in DO2, in microseconds.
- CreateTimestampedServoMotor2PulsePayload
Represents an operator that creates a timestamped message payload that specifies the pulse of the servo motor in DO2, in microseconds.
- CreateTimestampedServoMotor3PeriodPayload
Represents an operator that creates a timestamped message payload that specifies the period of the servo motor in DO3, in microseconds.
- CreateTimestampedServoMotor3PulsePayload
Represents an operator that creates a timestamped message payload that specifies the pulse of the servo motor in DO3, in microseconds.
- CreateTimestampedStartCamerasPayload
Represents an operator that creates a timestamped message payload that specifies the camera outputs to enable in the device.
- CreateTimestampedStopCamerasPayload
Represents an operator that creates a timestamped message payload that specifies the camera outputs to disable in the device.
- Device
Represents an observable source of messages from the Harp device connected at the specified serial port.
- DigitalInputState
Represents a register that reflects the state of DI digital lines of each Port.
- DisableServos
Represents a register that specifies the servo outputs to disable in the device.
- EnableEncoders
Represents a register that specifies the port quadrature counters to enable in the device.
- EnableSerialTimestamp
Represents a register that enables the timestamp for serial TX.
- EnableServos
Represents a register that specifies the servo outputs to enable in the device.
- EncoderMode
Represents a register that configures the operation mode of the quadrature encoders.
- EncoderReset
Represents a register that reset the counter of the specified encoders to zero.
- EventEnable
Represents a register that specifies the active events in the device.
- FilterRegister
Represents an operator that filters register-specific messages reported by the Harp.Behavior device.
- Format
Represents an operator which formats a sequence of values as specific Behavior register messages.
- GroupByRegister
Represents an operator that groups the sequence of Harp.Behavior" messages by register type.
- Led0Current
Represents a register that specifies the configuration of current to drive LED 0.
- Led0MaxCurrent
Represents a register that specifies the configuration of current to drive LED 0.
- Led1Current
Represents a register that specifies the configuration of current to drive LED 1.
- Led1MaxCurrent
Represents a register that specifies the configuration of current to drive LED 1.
- MimicPort0IR
Represents a register that specifies the digital output to mimic the Port 0 IR state.
- MimicPort0Valve
Represents a register that specifies the digital output to mimic the Port 0 valve state.
- MimicPort1IR
Represents a register that specifies the digital output to mimic the Port 1 IR state.
- MimicPort1Valve
Represents a register that specifies the digital output to mimic the Port 1 valve state.
- MimicPort2IR
Represents a register that specifies the digital output to mimic the Port 2 IR state.
- MimicPort2Valve
Represents a register that specifies the digital output to mimic the Port 2 valve state.
- OutputClear
Represents a register that clear the specified digital output lines.
- OutputPulseEnable
Represents a register that enables the pulse function for the specified output lines.
- OutputSet
Represents a register that set the specified digital output lines.
- OutputState
Represents a register that write the state of all digital output lines.
- OutputToggle
Represents a register that toggle the specified digital output lines.
- Parse
Represents an operator which filters and selects specific messages reported by the Behavior device.
- PokeInputFilter
Represents a register that specifies the low pass filter time value for poke inputs, in ms.
- PortDIOClear
Represents a register that clear the specified port DIO lines.
- PortDIODirection
Represents a register that specifies which of the port DIO lines are outputs.
- PortDIOSet
Represents a register that set the specified port DIO lines.
- PortDIOState
Represents a register that write the state of all port DIO lines.
- PortDIOStateEvent
Represents a register that specifies the state of the port DIO lines on a line change.
- PortDIOToggle
Represents a register that toggle the specified port DIO lines.
- PulseDO0
Represents a register that specifies the duration of the output pulse in milliseconds.
- PulseDO1
Represents a register that specifies the duration of the output pulse in milliseconds.
- PulseDO2
Represents a register that specifies the duration of the output pulse in milliseconds.
- PulseDO3
Represents a register that specifies the duration of the output pulse in milliseconds.
- PulseDOPort0
Represents a register that specifies the duration of the output pulse in milliseconds.
- PulseDOPort1
Represents a register that specifies the duration of the output pulse in milliseconds.
- PulseDOPort2
Represents a register that specifies the duration of the output pulse in milliseconds.
- PulseLed0
Represents a register that specifies the duration of the output pulse in milliseconds.
- PulseLed1
Represents a register that specifies the duration of the output pulse in milliseconds.
- PulseRgb0
Represents a register that specifies the duration of the output pulse in milliseconds.
- PulseRgb1
Represents a register that specifies the duration of the output pulse in milliseconds.
- PulseSupplyPort0
Represents a register that specifies the duration of the output pulse in milliseconds.
- PulseSupplyPort1
Represents a register that specifies the duration of the output pulse in milliseconds.
- PulseSupplyPort2
Represents a register that specifies the duration of the output pulse in milliseconds.
- PwmDutyCycleDO0
Represents a register that specifies the duty cycle of the PWM at DO0.
- PwmDutyCycleDO1
Represents a register that specifies the duty cycle of the PWM at DO1.
- PwmDutyCycleDO2
Represents a register that specifies the duty cycle of the PWM at DO2.
- PwmDutyCycleDO3
Represents a register that specifies the duty cycle of the PWM at DO3.
- PwmFrequencyDO0
Represents a register that specifies the frequency of the PWM at DO0.
- PwmFrequencyDO1
Represents a register that specifies the frequency of the PWM at DO1.
- PwmFrequencyDO2
Represents a register that specifies the frequency of the PWM at DO2.
- PwmFrequencyDO3
Represents a register that specifies the frequency of the PWM at DO3.
- PwmStart
Represents a register that starts the PWM on the selected output lines.
- PwmStop
Represents a register that stops the PWM on the selected output lines.
- Rgb0
Represents a register that specifies the state of the RGB0 LED channels.
- Rgb1
Represents a register that specifies the state of the RGB1 LED channels.
- RgbAll
Represents a register that specifies the state of all RGB LED channels.
- ServoMotor2Period
Represents a register that specifies the period of the servo motor in DO2, in microseconds.
- ServoMotor2Pulse
Represents a register that specifies the pulse of the servo motor in DO2, in microseconds.
- ServoMotor3Period
Represents a register that specifies the period of the servo motor in DO3, in microseconds.
- ServoMotor3Pulse
Represents a register that specifies the pulse of the servo motor in DO3, in microseconds.
- StartCameras
Represents a register that specifies the camera outputs to enable in the device.
- StopCameras
Represents a register that specifies the camera outputs to disable in the device.
- TimestampedAnalogData
Provides methods for manipulating timestamped messages from the AnalogData register.
- TimestampedCamera0Frame
Provides methods for manipulating timestamped messages from the Camera0Frame register.
- TimestampedCamera0Frequency
Provides methods for manipulating timestamped messages from the Camera0Frequency register.
- TimestampedCamera1Frame
Provides methods for manipulating timestamped messages from the Camera1Frame register.
- TimestampedCamera1Frequency
Provides methods for manipulating timestamped messages from the Camera1Frequency register.
- TimestampedDigitalInputState
Provides methods for manipulating timestamped messages from the DigitalInputState register.
- TimestampedDisableServos
Provides methods for manipulating timestamped messages from the DisableServos register.
- TimestampedEnableEncoders
Provides methods for manipulating timestamped messages from the EnableEncoders register.
- TimestampedEnableSerialTimestamp
Provides methods for manipulating timestamped messages from the EnableSerialTimestamp register.
- TimestampedEnableServos
Provides methods for manipulating timestamped messages from the EnableServos register.
- TimestampedEncoderMode
Provides methods for manipulating timestamped messages from the EncoderMode register.
- TimestampedEncoderReset
Provides methods for manipulating timestamped messages from the EncoderReset register.
- TimestampedEventEnable
Provides methods for manipulating timestamped messages from the EventEnable register.
- TimestampedLed0Current
Provides methods for manipulating timestamped messages from the Led0Current register.
- TimestampedLed0MaxCurrent
Provides methods for manipulating timestamped messages from the Led0MaxCurrent register.
- TimestampedLed1Current
Provides methods for manipulating timestamped messages from the Led1Current register.
- TimestampedLed1MaxCurrent
Provides methods for manipulating timestamped messages from the Led1MaxCurrent register.
- TimestampedMimicPort0IR
Provides methods for manipulating timestamped messages from the MimicPort0IR register.
- TimestampedMimicPort0Valve
Provides methods for manipulating timestamped messages from the MimicPort0Valve register.
- TimestampedMimicPort1IR
Provides methods for manipulating timestamped messages from the MimicPort1IR register.
- TimestampedMimicPort1Valve
Provides methods for manipulating timestamped messages from the MimicPort1Valve register.
- TimestampedMimicPort2IR
Provides methods for manipulating timestamped messages from the MimicPort2IR register.
- TimestampedMimicPort2Valve
Provides methods for manipulating timestamped messages from the MimicPort2Valve register.
- TimestampedOutputClear
Provides methods for manipulating timestamped messages from the OutputClear register.
- TimestampedOutputPulseEnable
Provides methods for manipulating timestamped messages from the OutputPulseEnable register.
- TimestampedOutputSet
Provides methods for manipulating timestamped messages from the OutputSet register.
- TimestampedOutputState
Provides methods for manipulating timestamped messages from the OutputState register.
- TimestampedOutputToggle
Provides methods for manipulating timestamped messages from the OutputToggle register.
- TimestampedPokeInputFilter
Provides methods for manipulating timestamped messages from the PokeInputFilter register.
- TimestampedPortDIOClear
Provides methods for manipulating timestamped messages from the PortDIOClear register.
- TimestampedPortDIODirection
Provides methods for manipulating timestamped messages from the PortDIODirection register.
- TimestampedPortDIOSet
Provides methods for manipulating timestamped messages from the PortDIOSet register.
- TimestampedPortDIOState
Provides methods for manipulating timestamped messages from the PortDIOState register.
- TimestampedPortDIOStateEvent
Provides methods for manipulating timestamped messages from the PortDIOStateEvent register.
- TimestampedPortDIOToggle
Provides methods for manipulating timestamped messages from the PortDIOToggle register.
- TimestampedPulseDO0
Provides methods for manipulating timestamped messages from the PulseDO0 register.
- TimestampedPulseDO1
Provides methods for manipulating timestamped messages from the PulseDO1 register.
- TimestampedPulseDO2
Provides methods for manipulating timestamped messages from the PulseDO2 register.
- TimestampedPulseDO3
Provides methods for manipulating timestamped messages from the PulseDO3 register.
- TimestampedPulseDOPort0
Provides methods for manipulating timestamped messages from the PulseDOPort0 register.
- TimestampedPulseDOPort1
Provides methods for manipulating timestamped messages from the PulseDOPort1 register.
- TimestampedPulseDOPort2
Provides methods for manipulating timestamped messages from the PulseDOPort2 register.
- TimestampedPulseLed0
Provides methods for manipulating timestamped messages from the PulseLed0 register.
- TimestampedPulseLed1
Provides methods for manipulating timestamped messages from the PulseLed1 register.
- TimestampedPulseRgb0
Provides methods for manipulating timestamped messages from the PulseRgb0 register.
- TimestampedPulseRgb1
Provides methods for manipulating timestamped messages from the PulseRgb1 register.
- TimestampedPulseSupplyPort0
Provides methods for manipulating timestamped messages from the PulseSupplyPort0 register.
- TimestampedPulseSupplyPort1
Provides methods for manipulating timestamped messages from the PulseSupplyPort1 register.
- TimestampedPulseSupplyPort2
Provides methods for manipulating timestamped messages from the PulseSupplyPort2 register.
- TimestampedPwmDutyCycleDO0
Provides methods for manipulating timestamped messages from the PwmDutyCycleDO0 register.
- TimestampedPwmDutyCycleDO1
Provides methods for manipulating timestamped messages from the PwmDutyCycleDO1 register.
- TimestampedPwmDutyCycleDO2
Provides methods for manipulating timestamped messages from the PwmDutyCycleDO2 register.
- TimestampedPwmDutyCycleDO3
Provides methods for manipulating timestamped messages from the PwmDutyCycleDO3 register.
- TimestampedPwmFrequencyDO0
Provides methods for manipulating timestamped messages from the PwmFrequencyDO0 register.
- TimestampedPwmFrequencyDO1
Provides methods for manipulating timestamped messages from the PwmFrequencyDO1 register.
- TimestampedPwmFrequencyDO2
Provides methods for manipulating timestamped messages from the PwmFrequencyDO2 register.
- TimestampedPwmFrequencyDO3
Provides methods for manipulating timestamped messages from the PwmFrequencyDO3 register.
- TimestampedPwmStart
Provides methods for manipulating timestamped messages from the PwmStart register.
- TimestampedPwmStop
Provides methods for manipulating timestamped messages from the PwmStop register.
- TimestampedRgb0
Provides methods for manipulating timestamped messages from the Rgb0 register.
- TimestampedRgb1
Provides methods for manipulating timestamped messages from the Rgb1 register.
- TimestampedRgbAll
Provides methods for manipulating timestamped messages from the RgbAll register.
- TimestampedServoMotor2Period
Provides methods for manipulating timestamped messages from the ServoMotor2Period register.
- TimestampedServoMotor2Pulse
Provides methods for manipulating timestamped messages from the ServoMotor2Pulse register.
- TimestampedServoMotor3Period
Provides methods for manipulating timestamped messages from the ServoMotor3Period register.
- TimestampedServoMotor3Pulse
Provides methods for manipulating timestamped messages from the ServoMotor3Pulse register.
- TimestampedStartCameras
Provides methods for manipulating timestamped messages from the StartCameras register.
- TimestampedStopCameras
Provides methods for manipulating timestamped messages from the StopCameras register.
Structs
- AnalogDataPayload
Represents the payload of the AnalogData register.
- RgbAllPayload
Represents the payload of the RgbAll register.
- RgbPayload
Represents the payload of the Rgb register.
Enums
- CameraOutputs
Specifies camera output enable bits.
- DigitalInputs
Specifies the state of port digital input lines.
- DigitalOutputs
Specifies the state of port digital output lines.
- EncoderInputs
Specifies quadrature counter enable bits.
- EncoderModeConfig
Specifies the type of reading made from the quadrature encoder.
- Events
Specifies the active events in the device.
- FrameAcquired
Specifies that camera frame was acquired.
- MimicOutput
Specifies the target IO on which to mimic the specified register.
- PortDigitalIOS
Specifies the state of the port DIO lines.
- PwmOutputs
Specifies the state of PWM output lines.
- ServoOutputs
Specifies servo output enable bits.