-
Notifications
You must be signed in to change notification settings - Fork 91
status data
JamesNewton edited this page Apr 20, 2018
·
28 revisions
The status of the Dexter robot arm is returned to DDE by the Firmware after every command. All the _DELTA and _AT values are scaled by the calibration values in the AxisCal.txt file. DDE calculates additional status data and adds it to the status array1 available to jobs. This includes slope values for each joint.
The actually returned data includes:
- DMA_READ_DATA
- DMA_READ_DATA
- RECORD_BLOCK_SIZE
- END_EFFECTOR_IO_IN
- BASE_POSITION_AT
- BASE_POSITION_DELTA
- BASE_POSITION_PID_DELTA
- BASE_POSITION_FORCE_DELTA
- BASE_SIN
- BASE_COS
- PLAYBACK_BASE_POSITION
- SENT_BASE_POSITION
- SLOPE_BASE_POSITION
- PIVOT_POSITION_AT
- PIVOT_POSITION_DELTA
- PIVOT_POSITION_PID_DELTA
- PIVOT_POSITION_FORCE_DELTA
- PIVOT_SIN
- PIVOT_COS
- PLAYBACK_PIVOT_POSITION
- SENT_PIVOT_POSITION
- SLOPE_PIVOT_POSITION
- END_POSITION_AT
- END_POSITION_DELTA
- END_POSITION_PID_DELTA
- END_POSITION_FORCE_DELTA
- END_SIN
- END_COS
- PLAYBACK_END_POSITION
- SENT_END_POSITION
- SLOPE_END_POSITION
- ANGLE_POSITION_AT
- ANGLE_POSITION_DELTA
- ANGLE_POSITION_PID_DELTA
- ANGLE_POSITION_FORCE_DELTA
- ANGLE_SIN
- ANGLE_COS
- PLAYBACK_ANGLE_POSITION
- SENT_ANGLE_POSITION
- SLOPE_ANGLE_POSITION
- ROT_POSITION_AT
- ROT_POSITION_DELTA
- ROT_POSITION_PID_DELTA
- ROT_POSITION_FORCE_DELTA
- ROT_SIN
- ROT_COS
- PLAYBACK_ROT_POSITION
- SENT_ROT_POSITION
- SLOPE_ROT_POSITION
To search the Wiki, use the main search box in the black bar at the top, then select WiKi to filter the results or go to https://github.com/HaddingtonDynamics/Dexter/search?type=Wikis&q= and then add your search terms to the end of the URL.
To report errors, or request additional data, please chat with us on discord and/or raise a new issue