ServoSensorsResponse Struct Reference
Expected response from a ReadServoSensorsCmd, common across AX, RX, and EX series at least. More...
#include <DynamixelProtocol.h>
Detailed Description
Expected response from a ReadServoSensorsCmd, common across AX, RX, and EX series at least.
Definition at line 376 of file DynamixelProtocol.h.
Public Member Functions | |
| ServoSensorsResponse () | |
| constructor | |
| unsigned short | getPosition () const |
| returns current position in 'tics', 10 bit resolution | |
| short | getSpeed () const |
| returns current speed as 'tics' per second, 11 bit signed resolution | |
| short | getLoad () const |
| returns an indication of how hard the servo is working, 11 bit signed resolution; note we flip the sign from what the hardware provides | |
Public Attributes | |
| unsigned char | posl |
| low byte of position | |
| unsigned char | posh |
| high byte of position | |
| unsigned char | speedl |
| low byte of speed | |
| unsigned char | speedh |
| high byte of speed | |
| unsigned char | loadl |
| low byte of load | |
| unsigned char | loadh |
| high byte of load | |
| unsigned char | voltage |
| voltage times 10 | |
| unsigned char | temp |
| temperature (Celsius) | |
| unsigned char | checksum |
| checksum value (bitwise negated sum of all non-marker fields), see nchecksum() | |
Constructor & Destructor Documentation
constructor
Definition at line 378 of file DynamixelProtocol.h.
Member Function Documentation
| short getLoad | ( | ) | const |
returns an indication of how hard the servo is working, 11 bit signed resolution; note we flip the sign from what the hardware provides
Definition at line 386 of file DynamixelProtocol.h.
Referenced by DynamixelDriver::provideValues().
| unsigned short getPosition | ( | ) | const |
returns current position in 'tics', 10 bit resolution
Definition at line 382 of file DynamixelProtocol.h.
Referenced by DynamixelDriver::pingServos(), and DynamixelDriver::provideValues().
| short getSpeed | ( | ) | const |
returns current speed as 'tics' per second, 11 bit signed resolution
Definition at line 384 of file DynamixelProtocol.h.
Referenced by DynamixelDriver::provideValues().
Member Data Documentation
| unsigned char checksum |
checksum value (bitwise negated sum of all non-marker fields), see nchecksum()
Definition at line 396 of file DynamixelProtocol.h.
| unsigned char loadh |
high byte of load
Definition at line 393 of file DynamixelProtocol.h.
Referenced by ServoSensorsResponse::getLoad().
| unsigned char loadl |
low byte of load
Definition at line 392 of file DynamixelProtocol.h.
Referenced by ServoSensorsResponse::getLoad().
| unsigned char posh |
high byte of position
Definition at line 389 of file DynamixelProtocol.h.
Referenced by ServoSensorsResponse::getPosition().
| unsigned char posl |
low byte of position
Definition at line 388 of file DynamixelProtocol.h.
Referenced by ServoSensorsResponse::getPosition().
| unsigned char speedh |
high byte of speed
Definition at line 391 of file DynamixelProtocol.h.
Referenced by ServoSensorsResponse::getSpeed().
| unsigned char speedl |
low byte of speed
Definition at line 390 of file DynamixelProtocol.h.
Referenced by ServoSensorsResponse::getSpeed().
| unsigned char temp |
temperature (Celsius)
Definition at line 395 of file DynamixelProtocol.h.
Referenced by DynamixelDriver::provideValues().
| unsigned char voltage |
voltage times 10
Definition at line 394 of file DynamixelProtocol.h.
Referenced by DynamixelDriver::provideValues().
The documentation for this struct was generated from the following file:
