26 lines
702 B
Plaintext
26 lines
702 B
Plaintext
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uint8 levelFlag
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uint16 commVersion
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uint16 robotID
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uint32 SN
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uint8 bandWidth
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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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float32 forwardPosition # (will be float type next version)
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float32 sidePosition # (will be float type next version)
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Cartesian[4] footPosition2Body
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Cartesian[4] footSpeed2Body
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int16[4] footForce
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int16[4] footForceEst
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uint32 tick
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uint8[40] wirelessRemote
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uint32 reserve
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uint32 crc
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# Under are not defined in SDK yet.
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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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