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status data
JamesNewton edited this page Apr 20, 2018
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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 array 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
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