Leg module of the TNY-360 API (code 0x04).
This module contains actions related to the leg management of the robot, such as setting positions and getting status information.
Here's a list of all the actions available in the leg module:
0x04 - 0x00Sets the enabled state of the joints in a leg.
uint8-
ID of the leg to set the enabled state for.
uint8-
Bitfield representing the enabled state of each joint (bit 0 = hip, bit 1 = knee, bit 2 = ankle).
No return values
0x04 - 0x01Gets the enabled state of the joints in a leg.
uint8-
ID of the leg to get the enabled state for.
uint8-
Bitfield representing the enabled state of each joint (bit 0 = hip, bit 1 = knee, bit 2 = ankle).
0x04 - 0x02Sets the target position of a leg.
uint8-
ID of the leg to set the position for.
float32-
X coordinate of the target position in meters.
float32-
Y coordinate of the target position in meters.
float32-
Z coordinate of the target position in meters.
bool-
Whether to clear joint overrides when setting the position (default: true).
No return values
0x04 - 0x03Gets the target position of a leg.
uint8-
ID of the leg to get the target position for.
Vec3f-
Target position of the leg in meters.
0x04 - 0x04Gets whether a leg is currently grounded.
uint8-
ID of the leg to get the grounded state for.
bool-
Whether the leg is currently grounded.
Here's a list of all the types used in the leg module:
A 3D vector with x, y, z components represented as floats.
float32-
The x component of the vector.
float32-
The y component of the vector.
float32-
The z component of the vector.