Data Sheet

IRONBOY USER MANUAL Ver.1.03_Eng
58
- motion_function_enable_byte : Motion Function Enable Byte
Motion Function Enable Byte Definition
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 Frist Step move time auto calculate Bit
(1: Enable, 0: Disable)
Bit 3 REPEAT_ENABLE Motion Repeat Enable Bit (1: Enable, 0:
Disable)
Bit 4 REPEAT_LOWER_POSE_EXCHANGE Repeat section lower pose L-F Swap Bit
(1: Enable, 0: Disable)
Bit 5 REPEAT_UPPER_POSE_EXCHANGE Repeat section upper pose L-F Swap Bit
(1: Enable, 0: Disable)
Bit 6 RESERVED Reserved Bit
Bit 7 RESERVED Reserved Bit
- motion_name : Motion Name (60 Characters)
FeedBackMonoStep(uint8_t motion, uint8_t step, protocol_store_motion_step_t *recv_buf)
protocol_store_motion_step_t Parameter
- step_move_time : Step move time (Range: 1 ~ 255, Unit: 0.01 sec)
- step_stop_time : Step stop time (Range: 1 ~ 255, Unit: 0.01 sec)
- step_led : Step LED color number (Range: 0 ~ 63), Refer to the annex "LED control color Chart".
- step_led_enable : LED color enable Bit, when it is ‘1’, color will be ON.
- step_piezo : Step Piezo sound number (Range: 0 ~ 63), Refer to the annex "Piezo Sound Number
Chart".
- step_piezo_enable : Piezo sound enable Bit, when it is ‘1’, piezo sound will be made.
- step_reference_pitch : Step Pitch reference angle (Range: -900 ~ 900, Unit: 0.1 °)
- step_reference_roll : Step Roll reference angle (Range: -1800 ~ 1799, Unit: 0.1 °)
- position : Address of array saving Actuator goal position value