WristCyclicC61

class Command

Wrist module command

Canonical

kortex_api.autogen.messages.WristCyclicC61_pb2.Command

Parameters

  • command_id (MessageId) – MessageId

  • flags (int) – Flags

  • digital_outputs_state (int) – Digital output(s) state bitmask (see WristDigitalIOMask); bit set = High state, bit reset = Low state

  • analog_output_a_channel_1_value (float) – Analog output value of M8 Connector A channel 1; [0.0, 10.0V] in voltage mode and [0.0, 25.0mA] in current mode

  • analog_output_a_channel_2_value (float) – Analog output value of M8 Connector A channel 2; [0.0, 10.0V] in voltage mode and [0.0, 25.0mA] in current mode

  • analog_output_b_channel_1_value (float) – Analog output value of M8 Connector B channel 1; [0.0, 10.0V] in voltage mode and [0.0, 25.0mA] in current mode

  • analog_output_b_channel_2_value (float) – Analog output value of M8 Connector B channel 2; [0.0, 10.0V] in voltage mode and [0.0, 25.0mA] in current mode

  • led_ring_rgb (int) – Wrist LED ring color, RGB format, 8 bits per color

  • led_ring_blink_frequency (int) – Wrist LED ring blink frequency (in Hertz); 0 for steady

class Feedback

Defines the feedback provided by wrist module

Canonical

kortex_api.autogen.messages.WristCyclicC61_pb2.Feedback

Parameters

  • feedback_id (MessageId) – MessageId

  • status_flags (int) – Status flags

  • buttons_state (int) – Wrist buttons state bitmask (see WristButtonMask); bit set = button pressed, bit reset = button released

  • digital_inputs_state (int) – Digital input(s) state bitmask (see WristDigitalIOMask); bit set = high state, bit reset = low state

  • analog_input_a_channel_1_value (float) – Analog input value of M8 connector A channel 1

  • analog_input_a_channel_2_value (float) – Analog input value of M8 connector A channel 2

  • analog_input_b_channel_1_value (float) – Analog input value of M8 connector B channel 1

  • analog_input_b_channel_2_value (float) – Analog input value of M8 cConnector B channel 2

  • force_x (float) – Force value along the X-Axis within the wrist coordinate system (in Newton)

  • force_y (float) – Force value along the Y-Axis within the wrist coordinate system (in Newton)

  • force_z (float) – Force value along the Z-Axis within the wrist coordinate system (in Newton)

  • torque_x (float) – Torque value about the X-Axis within the wrist coordinate system (in Newton-meters)

  • torque_y (float) – Torque value about the Y-Axis within the wrist coordinate system (in Newton-meters)

  • torque_z (float) – Torque value about the Z-Axis within the wrist coordinate system (in Newton-meters)

  • imu_acceleration_x (float) – IMU measured acceleration (X-Axis) of the wrist (in meters per second ^ squared)

  • imu_acceleration_y (float) – IMU measured acceleration (Y-Axis) of the wrist (in meters per second ^ squared)

  • imu_acceleration_z (float) – IMU measured acceleration (Z-Axis) of the wrist (in meters per second ^ squared)

  • imu_angular_velocity_x (float) – IMU measured angular velocity (X-Axis) of the wrist (in degrees per second)

  • imu_angular_velocity_y (float) – IMU measured angular velocity (Y-Axis) of the wrist (in degrees per second)

  • imu_angular_velocity_z (float) – IMU measured angular velocity (Z-Axis) of the wrist (in degrees per second)

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

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

  • fault_bank_a (int) – Wrist Bank A Faults

  • fault_bank_b (int) – Wrist Bank B Faults

class CustomData

Custom development data, content varies according to debugging needs

Canonical

kortex_api.autogen.messages.WristCyclicC61_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