This is structure hold almost all information of the robotical arm. More...
Public Attributes | |
| double | TimeAbsolute |
| not used for now | |
| double | TimeFromStartup |
| Time in second since the last boot. | |
| unsigned int | IndexStartup |
| Not used for now. | |
| int | ExpansionLong1 |
| not used for now. | |
| float | TimeStampSavings |
| Not used for now. | |
| float | ExpansionFloat |
| Not used for now. | |
| float | SupplyVoltage |
| Main supply voltage.(24 V) Unit is V. | |
| float | TotalCurrent |
| Current consumed on the main supply. Unit is A. | |
| float | Power |
| Power consumed on the main supply. Unit is W. | |
| float | AveragePower |
| Average power consumed on the main supply. Unit is W. | |
| float | AccelerationX |
| Acceleration X sensor's value. Unit is G. | |
| float | AccelerationY |
| Acceleration Y sensor's value. Unit is G. | |
| float | AccelerationZ |
| Acceleration Z sensor's value. Unit is G. | |
| float | SensorExpansion1 |
| Not used for now. | |
| float | SensorExpansion2 |
| Not used for now. | |
| float | SensorExpansion3 |
| Not used for now. | |
| unsigned int | CodeVersion |
| Firmware's code version. (Version.Major.Minor) | |
| unsigned int | CodeRevision |
| Firmware's code revision. | |
| unsigned short | Status |
| Not used for now. | |
| unsigned short | Controller |
| The active controller. Example : 3-axis joystick, API, universal interface, ... | |
| unsigned short | ControlMode |
| Not used for now. | |
| unsigned short | HandMode |
| Not used for now. | |
| unsigned short | ConnectedActuatorCount |
| Connected actuator count. | |
| unsigned short | PositionType |
| Type of the actual position. | |
| unsigned short | ErrorsSpiExpansion1 |
| Not in used now. | |
| unsigned short | ErrorsSpiExpansion2 |
| Not in used now. | |
| unsigned short | ErrorsMainSPICount |
| Communication error from the main SPI. | |
| unsigned short | ErrorsExternalSPICount |
| Communication error from the external SPI. | |
| unsigned short | ErrorsMainCANCount |
| Communication error from the main internal communication bus. | |
| unsigned short | ErrorsExternalCANCount |
| Communication error from the main external communication bus. | |
| SystemStatus | ActualSystemStatus |
| System status. | |
| UserPosition | Position |
| The actual angular and cartesian position information. | |
| UserPosition | Command |
| The actual angular and cartesian command information. | |
| UserPosition | Current |
| The actual angular and cartesian current information. | |
| UserPosition | Force |
| The actual angular and cartesian force information. | |
| ZoneLimitation | ActualLimitations |
| Actua limitation applied on the robotical arm. | |
| float | ControlIncrement [6] |
| Actual control increment from the actuators. | |
| float | FingerControlIncrement [3] |
| Actual control increment from the fingers. | |
| JoystickCommand | ActualJoystickCommand |
| Actual joystick command received by the robotical arm. | |
| unsigned int | PeripheralsConnected [4] |
| An array of all the connected peripheral. | |
| unsigned int | PeripheralsDeviceID [4] |
| An array of all the connected peripheral's ID. | |
| float | ActuatorsTemperatures [6] |
| An array of all the connected peripheral. | |
| float | FingersTemperatures [3] |
| An array that contains the fingers's temperature. | |
| float | FutureTemperatures [3] |
| Not used for now. | |
| int | ActuatorsCommErrors [6] |
| An array that contains communication errors of all actuators. | |
| int | FingersCommErrors [3] |
| An array that contains communication errors of all fingers. | |
| int | ExpansionLong2 |
| Not used for now. | |
| double | ControlTimeAbsolute |
| Not used for now. | |
| double | ControlTimeFromStartup |
| Control time since the last boot. The control time all the time the the robotical arm receive commands from any controller. | |
| unsigned char | ExpansionsBytes [192] |
This is structure hold almost all information of the robotical arm.