ActuatorCyclic

class MessageId

Provides a message identifier

Canonical

kortex_api.autogen.messages.ActuatorCyclic_pb2.MessageId

Parameters

identifier (int) – Message ID (first 2 bytes : device ID, last 2 bytes : sequence number). By default, set to zero

class Command

Defines an actuator command

Canonical

kortex_api.autogen.messages.ActuatorCyclic_pb2.Command

Parameters

  • command_id (MessageId) – MessageId

  • flags (int) – Command flags (see enum CommandFlags)

  • position (float) – Desired position of the actuator (degrees)

  • velocity (float) – Desired velocity of the actuator (degrees per second)

  • torque_joint (float) – Desired torque of the actuator (Newton-meters)

  • current_motor (float) – Desired current of the motor (Amperes)

class Feedback

Status feedback provided by an actuator

Canonical

kortex_api.autogen.messages.ActuatorCyclic_pb2.Feedback

Parameters

  • feedback_id (MessageId) – MessageId

  • status_flags (int) – Status flags (see enum StatusFlags for the rest)

  • jitter_comm (int) – Jitter from the communication in μs

  • position (float) – Position of the actuator (degrees)

  • velocity (float) – Angular velocity of the actuator (degrees per second)

  • torque (float) – Torque of the actuator (Newton meter)

  • current_motor (float) – Current of the motor (Amperes)

  • voltage (float) – Voltage of the main board in (Volt)

  • temperature_motor (float) – Motor temperature (average of the three (3) temperatures (degrees Celsius))

  • temperature_core (float) – Microcontroller temperature in (degrees Celsius)

  • fault_bank_a (int) – Main MCU Bank A Faults (see ActuatorConfig.Gen3ActuatorDiagnosticIdentifierBankA and ActuatorConfig.LinkActuatorMainMCUDiagnosticIdentifierBankA)

  • fault_bank_b (int) – Main MCU Bank B Faults (see ActuatorConfig.LinkActuatorMainMCUDiagnosticIdentifierBankB)

  • warning_bank_a (int) – Main MCU Bank A Warnings (see ActuatorConfig.Gen3ActuatorDiagnosticIdentifierBankA)

  • warning_bank_b (int) – Main MCU Bank B Warnings

  • sfty_fault_bank_a (int) – Safety MCU Bank A Faults (see ActuatorConfig.LinkActuatorSafetyMCUDiagnosticIdentifierBankA)

  • fault_bank_c (int) – Main MCU Bank C Faults (see ActuatorConfig.LinkActuatorMainMCUDiagnosticIdentifierBankC)

  • sfty_fault_bank_b (int) – Safety MCU Bank B Faults (see ActuatorConfig.LinkActuatorSafetyMCUDiagnosticIdentifierBankB)

class CustomData

Custom development data, content varies according to debug needs

Canonical

kortex_api.autogen.messages.ActuatorCyclic_pb2.CustomData

Parameters

  • custom_data_id (MessageId) – MessageId

  • custom_data_0 (int) – Custom data word 0

  • custom_data_1 (int) – Custom data word 1

  • custom_data_2 (int) – Custom data word 2

  • custom_data_3 (int) – Custom data word 3

  • custom_data_4 (int) – Custom data word 4

  • custom_data_5 (int) – Custom data word 5

  • custom_data_6 (int) – Custom data word 6

  • custom_data_7 (int) – Custom data word 7

  • custom_data_8 (int) – Custom data word 8

  • custom_data_9 (int) – Custom data word 9

  • custom_data_10 (int) – Custom data word 10

  • custom_data_11 (int) – Custom data word 11

  • custom_data_12 (int) – Custom data word 12

  • custom_data_13 (int) – Custom data word 13

  • custom_data_14 (int) – Custom data word 14

  • custom_data_15 (int) – Custom data word 15

class CustomCommand

Defines an actuator command with custom inputs for debug needs

Canonical

kortex_api.autogen.messages.ActuatorCyclic_pb2.CustomCommand

Parameters

  • command (Command) – Defines an actuator command

  • custom_command_0 (float) – Custom float command for development 0

  • custom_command_1 (float) – Custom float command for development 1

  • custom_command_2 (float) – Custom float command for development 2

  • custom_command_3 (float) – Custom float command for development 3

class CustomFeedback

Status feedback with custom development data provided by an actuator

Canonical

kortex_api.autogen.messages.ActuatorCyclic_pb2.CustomFeedback

Parameters

  • feedback (Feedback) – Status feedback provided by an actuator

  • custom_data (CustomData) – Custom development data, content varies according to debug needs