26 lines
1.2 KiB
Plaintext
26 lines
1.2 KiB
Plaintext
uint8 levelFlag
|
|
uint16 commVersion # Old version Aliengo does not have
|
|
uint16 robotID # Old version Aliengo does not have
|
|
uint32 SN # Old version Aliengo does not have
|
|
uint8 bandWidth # Old version Aliengo does not have
|
|
uint8 mode
|
|
IMU imu
|
|
float32 forwardSpeed
|
|
float32 sideSpeed
|
|
float32 rotateSpeed
|
|
float32 bodyHeight
|
|
float32 updownSpeed
|
|
float32 forwardPosition # (will be float type next version) # Old version Aliengo is different
|
|
float32 sidePosition # (will be float type next version) # Old version Aliengo is different
|
|
Cartesian[4] footPosition2Body
|
|
Cartesian[4] footSpeed2Body
|
|
int16[4] footForce # Old version Aliengo is different
|
|
int16[4] footForceEst # Old version Aliengo does not have
|
|
uint32 tick
|
|
uint8[40] wirelessRemote
|
|
uint32 reserve # Old version Aliengo does not have
|
|
uint32 crc
|
|
|
|
# Under are not defined in SDK yet. # Old version Aliengo does not have
|
|
Cartesian[4] eeForce # It's a 1-DOF force in real robot, but 3-DOF is better for visualization.
|
|
float32[12] jointP # for visualization |