Motor Control

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The Motor API is used to control the eight motors on TITA and to obtain the status of the eight motors.

Data from left side four motors

Function Overview： Read the status information of the four motors on the left side.
Topic： locomotion/motorgroupinput_left
Msg Type1： tita_motion_msgs::msg::MotorGroupIn
Msg Type1 Value：
std_msgs/Header
header
MotorIn[4] motor_in
Msg Type2： tita_motion_msgs::msg::MotorIn
Msg Type2 Value：
std_msgs/Header
header
uint8 id
float32 position
float32 velocity
float32 torque

Data from right side four motors

Function Overview： Read the status information of the four motors on the right side.
Topic： locomotion/motorgroupinput_right
Msg Type1： tita_motion_msgs::msg::MotorGroupIn
Msg Type1 Value：
std_msgs/Header
header
MotorIn[4] motor_in
Msg Type2： tita_motion_msgs::msg::MotorIn
Msg Type2 Value：
std_msgs/Header
header
uint8 id
float32 position
float32 velocity
float32 torque

Motor Control Interface

Function Overview： Control interface to control the motors of TITA.
Topic： locomotion/motorgroupinput_right
Msg Type1： tita_motion_msgs::msg::MotorGroupIn
Msg Type1 Value：
std_msgs/Header
header
MotorIn[4] motor_in
Msg Type2： tita_motion_msgs::msg::MotorIn
Msg Type2 Value：
std_msgs/Header
header
uint8 id
float32 position
float32 velocity
float32 torque

Note

float32 kp (not used) float32 kd (not used)