Motor API

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

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/motorgroup_output

Msg Type1：tita_motion_msgs::msg::MotorGroupOut

Msg Type1 Value：

std_msgs/Header

header

MotorOut[8] motor_out

Msg Type2：tita_motion_msgs::msg::MotorOut

Msg Type2 Value：

std_msgs/Header

header

uint8 id

float32 position

float32 kp

float32 velocity

float32 kd

float32 torque

float32 kp (not used)

float32 kd (not used)