integration:rps
Unterschiede
Hier werden die Unterschiede zwischen zwei Versionen angezeigt.
Beide Seiten der vorigen RevisionVorhergehende ÜberarbeitungNächste Überarbeitung | Vorhergehende Überarbeitung | ||
integration:rps [2021/09/09 13:18] – oliver | integration:rps [2021/09/10 09:26] (aktuell) – [Target Channels] oliver | ||
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Zeile 3: | Zeile 3: | ||
The RPS-integration is based on the Artiminds WebSocket API. The timestamps delivered by the RPS are used. At the starting time of the measurement the timestamp is saved as an offset and subtracted from the timestamps of further frames. | The RPS-integration is based on the Artiminds WebSocket API. The timestamps delivered by the RPS are used. At the starting time of the measurement the timestamp is saved as an offset and subtracted from the timestamps of further frames. | ||
- | == Target Channels == | + | === Target Channels |
^ name ^ Type ^ Unit ^ Description ^ | ^ name ^ Type ^ Unit ^ Description ^ | ||
- | ^ URAngle<Index> | Angle | rad | Joint angle | | + | ^ URAngle<0-5> | ANGLE | rad | Measured joint angle by the encoders. These can differ from target angles, if the robot is controlled by angles. The angels does not include offset by Denavit-Hartenberg systems calibration. **Because the angles are actual angles these channels should be moved to the actual-channels-element. TODO** | |
+ | ^ v< | ||
+ | ^ q< | ||
+ | ^ T | TIMESTAMP | ms | | | ||
+ | === Actual Channels === | ||
+ | ^ name ^ Type ^ Unit ^ Description ^ | ||
+ | ^ URt< | ||
+ | ^ T | TIMESTAMP | ms | | | ||
+ | === Example === | ||
<code xml> | <code xml> | ||
integration/rps.txt · Zuletzt geändert: 2021/09/10 09:26 von oliver