GetRtInputState#

This instantaneous command returns the state of the eight digital inputs of the MVK01 module.

Syntax#

GetRtInputState(bid)

Arguments#

  • bid: I/O bank ID, currently 1

Responses#

  • [2341][t, bid,p1,p2,p3,p4, p5,p6,p7,p8]†

    • t: timestamp in microseconds;

    • bid: I/O bank ID, currently 1;

    • pi: state of input pin i (i = 1, 2, …, 8), 1 for high and 0 for low.

† If an MVK01 module is not present, no input values will be included in the response and there will be no error.

Usage restrictions#

This command can be executed in any robot state.

Cyclic protocols#

In cyclic protocols, the command GetRtInputState is represented by DynamicDataTypeID 72. See Section 4.4.6 for more details.