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21 lines
467 B
Plaintext
21 lines
467 B
Plaintext
#
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# Nested type.
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# Single actuator command.
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#
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uint8 actuator_id
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#
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# Whether the units are linear or angular depends on the actuator type.
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#
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uint4 COMMAND_TYPE_UNITLESS = 0 # [-1, 1]
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uint4 COMMAND_TYPE_POSITION = 1 # meter or radian
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uint4 COMMAND_TYPE_FORCE = 2 # Newton or Newton metre
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uint4 COMMAND_TYPE_SPEED = 3 # meter per second or radian per second
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uint4 command_type
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#
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# Value of the above type
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#
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float16 command_value
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