33 lines
2.0 KiB
Plaintext
33 lines
2.0 KiB
Plaintext
uint8 levelFlag
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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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uint8 mode # 0. idle, default stand
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# 1. force stand (controlled by dBodyHeight + ypr)
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# 2. target velocity walking (controlled by velocity + yawSpeed)
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# 3. target position walking (controlled by position + ypr[0])
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# 4. path mode walking (reserve for future release)
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# 5. position stand down.
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# 6. position stand up
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# 7. damping mode
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# 8. recovery stand
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# 9. backflip
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# 10. jumpYaw
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# 11. straightHand
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# 12. dance1
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# 13. dance2
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# 14. two leg stand
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uint8 gaitType # 0.idle 1.trot 2.trot running 3.climb stair
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uint8 speedLevel # 0. default low speed. 1. medium speed 2. high speed. during walking, only respond MODE 3
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float32 footRaiseHeight # (unit: m, default: 0.08m), foot up height while walking
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float32 bodyHeight # (unit: m, default: 0.28m),
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float32[2] postion # (unit: m), desired position in inertial frame
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float32[3] euler # (unit: rad), roll pitch yaw in stand mode
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float32[2] velocity # (unit: m/s), forwardSpeed, sideSpeed in body frame
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float32 yawSpeed # (unit: rad/s), rotateSpeed in body frame
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BmsCmd bms
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LED[4] led
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uint8[40] wirelessRemote
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uint32 reserve # Old version Aliengo does not have
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int32 crc |