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TedObrien
26 lines
849 B
Plaintext
26 lines
849 B
Plaintext
uint64 timestamp # time since system start (microseconds)
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uint8 servo_actuator_id # actuator id of current servo (in most cases 1-8)
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uint8 servo_node_id # Node ID of device on CAN bus
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float32 servo_position # meter or radian
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float32 servo_force # Newton or Newton metre
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float32 servo_speed # meter per second or radian per second
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uint8 servo_power_rating_pct # 0 - unloaded, 100 - full load
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uint8 servo_function # servo output function
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float32 servo_temperature # in kelvin
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uint8 servo_temperature_error_flags
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uint8 ERROR_FLAG_OVERHEATING = 1
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uint8 ERROR_FLAG_OVERCOOLING = 2
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float32 servo_voltage # Volts
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float32 servo_current # Amps
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uint8 servo_power_error_flags
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uint8 ERROR_FLAG_OVERVOLTAGE = 1
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uint8 ERROR_FLAG_UNDERVOLTAGE = 2
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uint8 ERROR_FLAG_OVERCURRENT = 4
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uint8 ERROR_FLAG_UNDERCURRENT = 8
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