33 lines
1.2 KiB
Plaintext
Executable File
33 lines
1.2 KiB
Plaintext
Executable File
uint16 LeftMotor_CtrlWord
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int32 LeftMotor_Speed
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int32 LeftMotor_Encoder
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uint16 LeftMotor_Status
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uint8 LeftMotor_Error
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uint32 LeftMotor_ErrorHist1
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uint32 LeftMotor_ErrorHist2
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int32 LeftMotor_Current
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uint16 LeftMotor_I2t_Motor
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uint16 LeftMotor_I2t_Controller
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int16 LeftMotor_Temperature
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uint16 RightMotor_CtrlWord
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int32 RightMotor_Speed
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int32 RightMotor_Encoder
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uint16 RightMotor_Status
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uint8 RightMotor_Error
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uint32 RightMotor_ErrorHist1
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uint32 RightMotor_ErrorHist2
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int32 RightMotor_Current
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uint16 RightMotor_I2t_Motor
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uint16 RightMotor_I2t_Controller
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int16 RightMotor_Temperature
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#Status bits for brake feedback.
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uint8 BRAKE_STATUS_BRAKED_BIT=1 # is "1" if brake is supposed to be braked
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uint8 BRAKE_STATUS_FB_BIT=4 # is "1" if brake feedback sensor is activated (brake is released)
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uint8 BRAKE_STATUS_TRANSITION_BIT=128
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# So error combinations are - (Any combination with the TRANSITION bit set are valid)
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# BRAKED FB TRANSITION STATUSWORD
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# 0 0 0 0x00 Brake is suppused to be released, but FB indicate braked. We are not in transition.
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# 1 1 0 0x05 Brake is suppused to be braked, but FB indicate released. We are not in transition.
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uint8 Brake_LeftStatus
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uint8 Brake_RightStatus
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