Actarray format

Actarray log format

The format for each interface_actarray message is:

  • actuators_count (int): the number of actuators in the array
  • list of actuators; for each actuator:
    • position (float) : the position of the actuator
    • speed (float) : the speed of the actuator
    • acceleration (float) : the acceleration of the actuator
    • current (float) : the current of the actuator
    • state (byte) : the current state of the actuator
  • motor_state (byte): power state