MotorStatus

数据结构

字节索引	类型	字段含义
0-3	float32	电机机械角度 [rad]
4-7	float32	角速度 [rad/s]
8-11	float32	输出扭矩 [N·m]
12-15	float32	电流 [A]
16-19	float32	电压 [V]
20-23	float32	电机温度 [℃]
24-27	uint32	故障码
28-31	uint32	状态

MotorStatus 固定为 32 字节

示例

C++ 示例

struct MotorStatus {
  float angle;
  float angular_vel;
  float torque;
  float current;
  float voltage;
  float temp;
  uint32_t fault_code;
  uint32_t state;
};

Rust 示例

#[repr(C)]
#[derive(Clone, Copy, Debug, Default)]
pub struct MotorStatus {
    pub angle: f32,
    pub angular_vel: f32,
    pub torque: f32,
    pub current: f32,
    pub voltage: f32,
    pub temp: f32,
    pub fault_code: u32,
    pub state: u32,
}

const _: () = {
    assert!(core::mem::size_of::<MotorStatus>() == 32);
    assert!(core::mem::align_of::<MotorStatus>() == 4);
};

Dart 示例

import 'dart:typed_data';

final class MotorStatusView {
  static const int byteLength = 32;

  final ByteData data;

  MotorStatusView(ByteBuffer buffer, [int offsetInBytes = 0])
      : data = ByteData.view(buffer, offsetInBytes, byteLength);

  double get angle => data.getFloat32(0, Endian.little);
  double get angularVel => data.getFloat32(4, Endian.little);
  double get torque => data.getFloat32(8, Endian.little);
  double get current => data.getFloat32(12, Endian.little);
  double get voltage => data.getFloat32(16, Endian.little);
  double get temp => data.getFloat32(20, Endian.little);
  int get faultCode => data.getUint32(24, Endian.little);
  int get state => data.getUint32(28, Endian.little);
}

Java 示例

import java.nio.ByteBuffer;
import java.nio.ByteOrder;

public final class MotorStatusView {
  public static final int BYTE_LENGTH = 32;

  private final ByteBuffer buffer;
  private final int offset;

  public MotorStatusView(ByteBuffer buffer, int offset) {
    if (offset < 0 || offset + BYTE_LENGTH > buffer.capacity()) {
      throw new IndexOutOfBoundsException("MotorStatus payload requires 32 bytes");
    }
    this.buffer = buffer.order(ByteOrder.LITTLE_ENDIAN);
    this.offset = offset;
  }

  public float angle() { return buffer.getFloat(offset); }
  public float angularVel() { return buffer.getFloat(offset + 4); }
  public float torque() { return buffer.getFloat(offset + 8); }
  public float current() { return buffer.getFloat(offset + 12); }
  public float voltage() { return buffer.getFloat(offset + 16); }
  public float temp() { return buffer.getFloat(offset + 20); }
  public int faultCode() { return buffer.getInt(offset + 24); }
  public int state() { return buffer.getInt(offset + 28); }
}