Kinova API Documentation
GeneralInformations Struct Reference

This is structure hold almost all information of the robotical arm. More...

List of all members.

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]

Detailed Description

This is structure hold almost all information of the robotical arm.

 All Classes Files Functions Variables Enumerations Enumerator Defines