2020-07-15 11:21:03 +08:00
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uint8 levelFlag
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2020-08-14 11:32:28 +08:00
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uint16 commVersion # Old version Aliengo does not have
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uint16 robotID # Old version Aliengo does not have
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uint32 SN # Old version Aliengo does not have
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uint8 bandWidth # Old version Aliengo does not have
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2020-07-15 11:21:03 +08:00
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uint8 mode
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IMU imu
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float32 forwardSpeed
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float32 sideSpeed
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float32 rotateSpeed
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float32 bodyHeight
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float32 updownSpeed
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2020-08-14 11:32:28 +08:00
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float32 forwardPosition # (will be float type next version) # Old version Aliengo is different
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float32 sidePosition # (will be float type next version) # Old version Aliengo is different
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2020-07-15 11:21:03 +08:00
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Cartesian[4] footPosition2Body
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Cartesian[4] footSpeed2Body
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2020-08-14 11:32:28 +08:00
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int16[4] footForce # Old version Aliengo is different
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int16[4] footForceEst # Old version Aliengo does not have
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2020-07-15 11:21:03 +08:00
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uint32 tick
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uint8[40] wirelessRemote
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2020-08-14 11:32:28 +08:00
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uint32 reserve # Old version Aliengo does not have
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2020-07-15 11:21:03 +08:00
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uint32 crc
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2020-08-14 11:32:28 +08:00
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# Under are not defined in SDK yet. # Old version Aliengo does not have
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2020-07-15 11:21:03 +08:00
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Cartesian[4] eeForce # It's a 1-DOF force in real robot, but 3-DOF is better for visualization.
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float32[12] jointP # for visualization
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