GetRtValveState#

This instantaneous command returns the current state of the MPM500 pneumatic module connected to the I/O port of the Meca500, preceded with a timestamp.

Syntax#

GetRtValveState()

Responses#

  • [2310][t, v1, v2]

    • t: timestamp in microseconds;

    • v1: state of valve 1 (0 if closed, 1 if open);

    • v2: state of valve 2 (0 if closed, 1 if open).

Usage restrictions#

This command can be executed in any robot state.

If no pneumatic module is connected, the robot will report the following:

  • [1041][No pneumatic module connected.]

Cyclic protocols#

In cyclic protocols, the command GetRtValveState is represented by DynamicDataTypeID 53. See Section 4.4.6 for more details.