Dynamixel Servo State Structure. More...

#include <DynaTypes.h>

Public Attributes
uint_t	m_uAlarms
	current servo alarms and errors

bool_t	m_bTorqueEnabled
	torque [not] enabled

bool_t	m_bLed
	led on/off

DynaServoCtlMethod_T	m_ctlMethod
	position control method

uint_t	m_uGoalPos
	goal position (encoder ticks)

int	m_nGoalSpeed
	goal speed (raw)

uint_t	m_uLimTorqueMax
	maximum torque limit

uint_t	m_uOverTorqueTh
	set over torque cond. threshold

uint_t	m_uClearTorqueTh
	clear over torque cond. threshold

bool	m_bOverTorqueCond
	over torque condition state

uint_t	m_uCurPos
	current position (encoder ticks)

int	m_nCurSpeed
	current speed (raw)

int	m_nCurLoad
	current load

uint_t	m_uCurVolt
	current voltage

uint_t	m_uCurTemp
	current temperature

bool_t	m_bIsMoving
	servo is [not] moving

DynaServoOdometer_T	m_od
	servo virtual odometer

Detailed Description

Dynamixel Servo State Structure.

Values exposed to applications are in current units.

Definition at line 194 of file DynaTypes.h.

The documentation for this struct was generated from the following file:

Public Attributes