GetRtConf

Unlike the GetConf command, which returns the desired posture configuration parameters, the GetRtConf command returns the current posture configuration parameters, calculated from real-time data provided by the joint encoders. Additionally, the GetRtConf command includes a timestamp in its response.

Syntax

GetRtConf()

Responses

• [2218][c_s, c_e, c_w]

  • c_s: shoulder configuration parameter, -1, 1, or 0^†;

  • c_e: elbow configuration parameter, -1, 1, or 0^†;

  • c_w: wrist configuration parameter, -1, 1, or 0^†.

^† At the corresponding singularity, we return 0, but display the text “n/a” in the MecaPortal.

Usage restrictions

This command can be executed in any robot state.

Cyclic protocols

In cyclic protocols, the command GetRtConf is represented by DynamicDataTypeID 45. See Section 4.4.6 for more details.