class ActuatorCommand

Member values

Member name	Data type	Description
command_id	uint32	Command ID (first 2 bytes: device ID, last 2 bytes: sequence number)
flags	uint32	Flags
position	float32	Desired position of the actuator (in degrees)
velocity	float32	Desired velocity of the actuator (in degrees per second)
torque_joint	float32	Desired torque of the actuator (in Newton * meters)
current_motor	float32	Desired current of the motor (in Amperes)

Member functions

Function name	Return type	Input type	Description
command_id()	uint32	void	Returns the current value of command_id. If the command_id is not set, returns 0.
set_command_id()	void	uint32	Sets the value of command_id. After calling this, command_id() will return value.
clear_command_id()	void	void	Clears the value of command_id. After calling this, command_id() will return 0.
flags()	uint32	void	Returns the current value of flags. If the flags is not set, returns 0.
set_flags()	void	uint32	Sets the value of flags. After calling this, flags() will return value.
clear_flags()	void	void	Clears the value of flags. After calling this, flags() will return 0.
position()	float32	void	Returns the current value of position. If the position is not set, returns 0.
set_position()	void	float32	Sets the value of position. After calling this, position() will return value.
clear_position()	void	void	Clears the value of position. After calling this, position() will return 0.
velocity()	float32	void	Returns the current value of velocity. If the velocity is not set, returns 0.
set_velocity()	void	float32	Sets the value of velocity. After calling this, velocity() will return value.
clear_velocity()	void	void	Clears the value of velocity. After calling this, velocity() will return 0.
torque_joint()	float32	void	Returns the current value of torque_joint. If the torque_joint is not set, returns 0.
set_torque_joint()	void	float32	Sets the value of torque_joint. After calling this, torque_joint() will return value.
clear_torque_joint()	void	void	Clears the value of torque_joint. After calling this, torque_joint() will return 0.
current_motor()	float32	void	Returns the current value of current_motor. If the current_motor is not set, returns 0.
set_current_motor()	void	float32	Sets the value of current_motor. After calling this, current_motor() will return value.
clear_current_motor()	void	void	Clears the value of current_motor. After calling this, current_motor() will return 0.

Parent topic: BaseCyclic (C++)