Joint module of the TNY-360 API (code 0x05).
This module contains actions related to the joint management of the robot, such as setting or getting positions and getting status information.
Here's a list of all the actions available in the joint module:
0x05 - 0x00Sets the enabled state of a joint.
uint8-
ID of the joint to set the enabled state for.
bool-
Whether to enable (true) or disable (false) the joint.
No return values
0x05 - 0x01Gets the enabled state of a joint.
uint8-
ID of the joint to get the enabled state for.
bool-
Whether the joint is currently enabled.
0x05 - 0x02Sets the target angle of a joint.
uint8-
ID of the joint to set the target angle for.
float32-
Target angle in radians.
No return values
0x05 - 0x03Gets the target angle of a joint.
uint8-
ID of the joint to get the target angle for.
float32-
Target angle in radians.
0x05 - 0x04Gets the feedback angle of a joint.
uint8-
ID of the joint to get the feedback angle for.
float32-
Feedback angle in radians.
0x05 - 0x05Gets the model angle of a joint.
uint8-
ID of the joint to get the model angle for.
float32-
Model angle in radians.
0x05 - 0x06Gets the estimated angle of a joint.
uint8-
ID of the joint to get the estimated angle for.
float32-
Estimated angle in radians.
0x05 - 0x07Sets the target angles of all joints at once.
float32[14]-
Target angles for all joints in radians (order: LF hip, LF knee, LF ankle, RF hip, RF knee, RF ankle, LH hip, LH knee, LH ankle, RH hip, RH knee, RH ankle).
No return values
0x05 - 0x08Gets the feedback angles of all joints at once.
No arguments
float32[14]-
Feedback angles for all joints in radians (order: LF hip, LF knee, LF ankle, RF hip, RF knee, RF ankle, LH hip, LH knee, LH ankle, RH hip, RH knee, RH ankle).
Here's a list of all the types used in the joint module: