MiP_HeadLEDs

Class MiP_HeadLEDs

Manages MiP's eye/head LEDs.

Table of Contents

• Public Functions
• Public Variables & Constants

---

Public Functions

read

Signature: void read(MiPHeadLEDs &headLEDs)

Summary: Reads the current state of all four head LEDs.

Details:

Sends the get head LEDs request over UART and populates headLEDs with the active lighting pattern of each LED. Performs retries automatically on communication failure.

Parameters:

Parameter	Description
headLEDs	Reference to a MiPHeadLEDs struct to populate with retrieved states.

---

write

Signature: void write(MiPHeadLED led1, MiPHeadLED led2, MiPHeadLED led3, MiPHeadLED led4)

Summary: Sets all four head LEDs and verifies the change.

Details:

Sends the set command and immediately reads back the state to confirm success. Retries automatically on mismatch or communication error.

Parameters:

Parameter	Description
led1	Head LED 1 pattern.
led2	Head LED 2 pattern.
led3	Head LED 3 pattern.
led4	Head LED 4 pattern.

---

write

Signature: void write(const MiPHeadLEDs &headLEDs)

Summary: Sets all four head LEDs using a struct and verifies the change.

Details:

Sends the set command and immediately reads back the state to confirm success. Retries automatically on mismatch or communication error.

Parameters:

Parameter	Description
headLEDs	Struct containing the four LED patterns.

---

unverifiedWrite

Signature: void unverifiedWrite(MiPHeadLED led1, MiPHeadLED led2, MiPHeadLED led3, MiPHeadLED led4)

Summary: Sets all four head LEDs without verification (fire-and-forget).

Details:

Faster than the verified version because it does not perform a read-back check, but provides no confirmation that the command succeeded on hardware.

Parameters:

Parameter	Description
led1	Head LED 1 pattern.
led2	Head LED 2 pattern.
led3	Head LED 3 pattern.
led4	Head LED 4 pattern.

---

unverifiedWrite

Signature: void unverifiedWrite(const MiPHeadLEDs &headLEDs)

Summary: Sets all four head LEDs using a struct without verification (fire-and-forget).

Details:

Faster than the verified version because it does not perform a read-back check, but provides no confirmation that the command succeeded on hardware.

Parameters:

Parameter	Description
headLEDs	Struct containing the four LED patterns.

---

Public Variables

MIP_CMD_SET_HEAD_LEDS

Signature: constexpr uint8_t MIP_CMD_SET_HEAD_LEDS

Summary: MiP protocol command byte to set the patterns of all four head LEDs.

---

MIP_CMD_GET_HEAD_LEDS

Signature: constexpr uint8_t MIP_CMD_GET_HEAD_LEDS

Summary: MiP protocol command byte to query the current patterns of all four head LEDs.

---