2022-05-24 16:05:24 +08:00
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uint8[2] head
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2021-09-01 20:46:41 +08:00
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uint8 levelFlag
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2022-05-24 16:05:24 +08:00
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uint8 frameReserve
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uint32[2] SN
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uint32[2] version
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uint16 bandWidth
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2021-09-01 20:46:41 +08:00
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IMU imu
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MotorState[20] motorState
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2022-05-24 16:05:24 +08:00
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BmsState bms
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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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2022-10-16 14:06:21 +08:00
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# Old version Aliengo does not have:
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Cartesian[4] eeForceRaw
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Cartesian[4] eeForce #it's a 1-DOF force infact, but we use 3-DOF here just for visualization
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Cartesian position # will delete
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Cartesian velocity # will delete
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Cartesian velocity_w # will delete
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