GetRtAccelerometer

An accelerometer is embedded in link 5 of the Meca500 (i.e., the body with the I/O port). It reports the acceleration of link 5 with respect to the WRF in the range ±32,000, which corresponds to ±2g. If the robot is not moving and is installed upright on a stationary horizontal surface, GetRtAccelerometer(5) will return roughly {0,0,−16000}, no matter what the joint set. In other words, in stationary conditions, you can essentially think of the accelerometer as if it were embedded in the base of the robot.

Syntax

GetRtAccelerometer(n)

Arguments

• n: link number, currently must be 5.

Responses

• [2220][t, n, a_x, a_y, a_z]

  • t: timestamp in microseconds;

  • n: link number, currently 5;

  • a_x, a_y, a_z: acceleration in link 5, measured with respect to the WRF, in units such that 16,000 is equivalent to 9.81 m/s² (i.e., 1g).

Note

Data from this accelerometer should not be used for precise measurements.

Usage restrictions

This command can be executed in any robot state.

Cyclic protocols

In cyclic protocols, the command GetRtAccelerometer is represented by DynamicDataTypeID 46. See Section 4.4.6 for more details.