This is structure hold almost all information of the robotical arm. More...

#include <KinovaTypes.h>

Public Attributes
float	AccelerationX
	Acceleration X sensor's value. Unit is G.
float	AccelerationY
	Acceleration Y sensor's value. Unit is G.
float	AccelerationZ
	Acceleration Z sensor's value. Unit is G.
JoystickCommand	ActualJoystickCommand
	Actual joystick command received by the robotical arm.
ZoneLimitation	ActualLimitations
	Actua limitation applied on the robotical arm.
SystemStatus	ActualSystemStatus
	System status.
int	ActuatorsCommErrors [6]
	An array that contains communication errors of all actuators.
float	ActuatorsTemperatures [6]
	An array of all the connected peripheral.
float	AveragePower
	Average power consumed on the main supply. Unit is W.
unsigned int	CodeRevision
	Firmware's code revision.
unsigned int	CodeVersion
	Firmware's code version. (Version.Major.Minor)
UserPosition	Command
	The actual angular and cartesian command information.
unsigned short	ConnectedActuatorCount
	Connected actuator count.
float	ControlIncrement [6]
	Actual control increment from the actuators.
unsigned short	Controller
	The active controller. Example : 3-axis joystick, API, universal interface, ...
unsigned short	ControlMode
	Not used for now.
double	ControlTimeAbsolute
	Not used for now.
double	ControlTimeFromStartup
	Control time since the last boot. The control time all the time the the robotical arm receive commands from any controller.
UserPosition	Current
	The actual angular and cartesian current information.
unsigned short	ErrorsExternalCANCount
	Communication error from the main external communication bus.
unsigned short	ErrorsExternalSPICount
	Communication error from the external SPI.
unsigned short	ErrorsMainCANCount
	Communication error from the main internal communication bus.
unsigned short	ErrorsMainSPICount
	Communication error from the main SPI.
unsigned short	ErrorsSpiExpansion1
	Not in used now.
unsigned short	ErrorsSpiExpansion2
	Not in used now.
float	ExpansionFloat
	Not used for now.
int	ExpansionLong1
	not used for now.
int	ExpansionLong2
	Not used for now.
unsigned char	ExpansionsBytes [192]
float	FingerControlIncrement [3]
	Actual control increment from the fingers.
int	FingersCommErrors [3]
	An array that contains communication errors of all fingers.
float	FingersTemperatures [3]
	An array that contains the fingers's temperature.
UserPosition	Force
	The actual angular and cartesian force information.
float	FutureTemperatures [3]
	Not used for now.
unsigned short	HandMode
	Not used for now.
unsigned int	IndexStartup
	Not used for now.
unsigned int	PeripheralsConnected [4]
	An array of all the connected peripheral.
unsigned int	PeripheralsDeviceID [4]
	An array of all the connected peripheral's ID.
UserPosition	Position
	The actual angular and cartesian position information.
unsigned short	PositionType
	Type of the actual position.
float	Power
	Power consumed on the main supply. Unit is W.
float	SensorExpansion1
	Not used for now.
float	SensorExpansion2
	Not used for now.
float	SensorExpansion3
	Not used for now.
unsigned short	Status
	Not used for now.
float	SupplyVoltage
	Main supply voltage.(24 V) Unit is V.
double	TimeAbsolute
	not used for now
double	TimeFromStartup
	Time in second since the last boot.
float	TimeStampSavings
	Not used for now.
float	TotalCurrent
	Current consumed on the main supply. Unit is A.