Data Sheet

IRONBOY USER MANUAL Ver.1.03_Eng
55
Bit 4 CAPTURE_ENABLE_ACTUATOR_12 Actuator #12 Capture Enable Bit (1:
Enable, 0: Disable)
Bit 5 CAPTURE_ENABLE_ACTUATOR_13 Actuator #13 Capture Enable Bit (1:
Enable, 0: Disable)
Bit 6 CAPTURE_ENABLE_ACTUATOR_14 Actuator #14 Capture Enable Bit (1:
Enable, 0: Disable)
Bit 7 CAPTURE_ENABLE_ACTUATOR_15 Actuator #15 Capture Enable Bit (1:
Enable, 0: Disable)
※ Posture Capture Enable Byte 2
Bit Definition Description
Bit 0 CAPTURE_ENABLE_ACTUATOR_16 Actuator #16 Capture Enable Bit (1:
Enable, 0: Disable)
Bit 1 CAPTURE_ENABLE_ACTUATOR_17 Actuator #17 Capture Enable Bit (1:
Enable, 0: Disable)
Bit 2 CAPTURE_ENABLE_ACTUATOR_18 Actuator #18 Capture Enable Bit (1:
Enable, 0: Disable)
Bit 3 CAPTURE_ENABLE_ACTUATOR_19 Actuator #19 Capture Enable Bit (1:
Enable, 0: Disable)
Bit 4 CAPTURE_ENABLE_ACTUATOR_20 Actuator #20 Capture Enable Bit (1:
Enable, 0: Disable)
Bit 5 CAPTURE_ENABLE_ACTUATOR_21 Actuator #21 Capture Enable Bit (1:
Enable, 0: Disable)
Bit 6 CAPTURE_ENABLE_ACTUATOR_22 Actuator #22 Capture Enable Bit (1:
Enable, 0: Disable)
Bit 7 CAPTURE_ENABLE_ACTUATOR_23 Actuator #23 Capture Enable Bit (1:
Enable, 0: Disable)
StoreBaseParameter(uint8_t battery_full_voltage,
uint8_t battery_low_warning_voltage, uint8_t motion_speed_rate,
uint8_t *balance_PID, uint8_t auto_recovery_trigger_angle,
uint8_t auto_recovery_front_down_motion,
uint8_t auto_recovery_rear_down_motion,
uint8_t function_enable_byte);
Function : Robot Basic Setting Save
Parameter
- battery_full_voltage : Battery Full charging Voltage (Range: 40 ~ 255: Unit: 0.1 V)
- battery_low_warning_voltage : Battery Low Voltage Warning Voltage (Range: 40 ~ 255: Unit: 0.1 V)
- motion_speed_rate : Motion speed rate (Range: 50 ~ 150, Unit: 0.01 x)
- balance_PID : Balance control PID proportional constant (RESERVED)
- auto_recovery_trigger_angle : Auto recovery start angle (Range: 1 ~ 90, Unit: ±1 °)
- auto_recovery_front_down_motion : Auto recovery motion for front down (Range: 0 ~ 200)
- auto_recovery_rear_down_motion : Auto recovery motion for back down (Range: 0 ~ 200)
- function_enable_byte : Motion Function Enable Byte
Bit Definition Description
Bit 0 BALANCE_CONTROL Balance control Enable Bit (1: Enable, 0:
Disable)
Bit 1 AUTO_RECOVERY Auto recovery Enable Bit (1: Enable, 0:
Disable)
Bit 2 FIRST_STEP_MOVE_TIME_AUTO_CALCULATE First Step move time auto calculate Bit
(1: Enable, 0: Disable)
Bit 3 REPEAT_ENABLE Motion Repeat Enable Bit (1: Enable, 0:
Disable)