GetRtConfTurn

Contrary to GetConfTurn, which returns the desired turn configuration parameter, GetRtConfTurn returns the current turn configuration parameter, as calculated from the real-time data coming from the encoder of the last joint. In addition, the GetRtConfTurn command returns a timestamp.

Syntax

GetRtConfTurn()

Responses

• [2219][t, c_t]

  • t: timestamp in microseconds;

  • c_t: turn configuration parameter, an integer number.

Usage restrictions

This command can be executed in any robot state.

Cyclic protocols

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