2022-05-24 16:05:24 +08:00
|
|
|
|
|
|
|
|
uint8[2] head
|
2021-09-01 20:46:41 +08:00
|
|
|
uint8 levelFlag
|
2022-05-24 16:05:24 +08:00
|
|
|
uint8 frameReserve
|
|
|
|
|
|
|
|
|
|
uint32[2] SN
|
|
|
|
|
uint32[2] version
|
|
|
|
|
uint16 bandWidth
|
2021-09-01 20:46:41 +08:00
|
|
|
IMU imu
|
2022-05-24 16:05:24 +08:00
|
|
|
MotorState[20] motorState
|
2021-09-02 18:24:10 +08:00
|
|
|
BmsState bms
|
2022-05-24 16:05:24 +08:00
|
|
|
int16[4] footForce
|
|
|
|
|
int16[4] footForceEst
|
|
|
|
|
uint8 mode
|
|
|
|
|
float32 progress
|
|
|
|
|
uint8 gaitType
|
|
|
|
|
float32 footRaiseHeight
|
|
|
|
|
float32[3] position
|
|
|
|
|
float32 bodyHeight
|
|
|
|
|
float32[3] velocity
|
|
|
|
|
float32 yawSpeed
|
|
|
|
|
float32[4] rangeObstacle
|
|
|
|
|
Cartesian[4] footPosition2Body
|
|
|
|
|
Cartesian[4] footSpeed2Body
|
2021-09-01 20:46:41 +08:00
|
|
|
uint8[40] wirelessRemote
|
2022-05-24 16:05:24 +08:00
|
|
|
uint32 reserve
|
|
|
|
|
|
2021-09-02 18:24:10 +08:00
|
|
|
uint32 crc
|
