Structure that represents a finger from the end effector's tool. More...
Public Attributes | |
| char | ID [STRING_LENGTH] |
| ID of the finger. | |
| float | ActualCommand |
| Actual command of the finger. | |
| float | ActualSpeed |
| Actual velocity of the finger. | |
| float | ActualForce |
| Actual force of the finger. | |
| float | ActualAcceleration |
| Actual acceleration of the finger. | |
| float | ActualCurrent |
| Actual current of the finger. | |
| float | ActualPosition |
| Actual position of the finger. | |
| float | ActualAverageCurrent |
| Not used for now. | |
| float | ActualTemperature |
| Actual temperature of the finger. | |
| int | CommunicationErrors |
| Not used for now. | |
| int | OscillatorTuningValue |
| Not used for now. | |
| float | CycleCount |
| Not used for now. | |
| float | RunTime |
| Not used for now. | |
| float | PeakMaxTemp |
| Not used for now. | |
| float | PeakMinTemp |
| Not used for now. | |
| float | PeakCurrent |
| Not used for now. | |
| float | MaxSpeed |
| This is the max velocity of the finger. | |
| float | MaxForce |
| This is the max force of the finger. | |
| float | MaxAcceleration |
| This is the max acceleration of the finger. | |
| float | MaxCurrent |
| This is the max current of the finger. | |
| float | MaxAngle |
| This is the max position of the finger. | |
| float | MinAngle |
| This is the min position of the finger. | |
| unsigned int | DeviceID |
| Not used for now. | |
| unsigned int | CodeVersion |
| Code version of the finger's firmware. | |
| unsigned short | IsFingerInit |
| A flag that indicates if the finger is initialized or not. | |
| unsigned short | Index |
| Index of the finger. | |
| unsigned short | FingerAddress |
| Address of the finger. | |
| unsigned short | IsFingerConnected |
| A flag that indicates if the finger is connected. | |
Structure that represents a finger from the end effector's tool.