hehesheng/unitree_actuator_sdk
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Update | Example Update.

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This commit is contained in:
Yichao Zhang 2022-11-24 19:35:11 +08:00
parent c5f4a2c3f5
commit 16a082a88d
1 changed files with 10 additions and 7 deletions
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17
example/main.cpp
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@ -18,13 +18,16 @@ int main() {
cmd.T = 0.0; cmd.T = 0.0;
serial.sendRecv(&cmd,&data); serial.sendRecv(&cmd,&data);
std::cout << std::endl; if(data.correct == true)
std::cout << "motor.Pos: " << data.Pos << std::endl; {
std::cout << "motor.Temp: " << data.Temp << std::endl; std::cout << std::endl;
std::cout << "motor.W: " << data.W << std::endl; std::cout << "motor.Pos: " << data.Pos << " rad" << std::endl;
std::cout << "motor.T: " << data.T << std::endl; std::cout << "motor.Temp: " << data.Temp << " ℃" << std::endl;
std::cout << "motor.MError: " << data.MError << std::endl; std::cout << "motor.W: " << data.W << " rad/s"<<std::endl;
std::cout << std::endl; std::cout << "motor.T: " << data.T << " N.m" << std::endl;
std::cout << "motor.MError: " << data.MError << std::endl;
std::cout << std::endl;
}
usleep(200); usleep(200);