C, C++:

UDP-Based Pushed Expansion Joint Data rm_udp_expand_state_t

Class member variable description

• Current angle pos

  Accuracy: 0.001°, unit: °

  float rm_udp_expand_state_t::pos

• Current drive current current

  Unit: mA, accuracy: 1 mA

  int rm_udp_expand_state_t::current

• Drive error code err_flag

  Refer to joint error codes for details

  int rm_udp_expand_state_t::err_flag

• Current joint enabling state en_flag

  1: enable, 0: disable

  int rm_udp_expand_state_t::en_flag

• Joint ID joint_id

  int rm_udp_expand_state_t::joint_id

• Current lifting state mode

  0: idle, 1: forward speed motion, 2: forward position motion, 3: backward speed motion, 4: backward position motion

  int rm_udp_expand_state_t::mode