Both voltage and speed commands are possible, and the type of command used may vary across the actuators. The command variables used are ECA_[JOINT]_VOLTAGE_CMD or ECA_[JOINT]_SPEED_CMD, where [JOINT] can be one of YAW, SHOULDER, ELBOW, WRIST, or GRIP. If a given joint does not receive a command for 0.5 seconds, it will automatically be commanded to stop.
Both voltage and speed commands have a range of 0 to 100, which is automatically mapped to the voltage or speed ranges. Maximum speed is set in the mission file and varies between joints within the range 9000 to 12000.
Sensor output is available on the variables ECA_[JOINT]_SPEED, ECA_[JOINT]_POSITION, ECA_VOLTAGE, and ECA_CURRENT. The current comms rate in hertz is posted to ECA_UPDATE_RATE. Position and speed are in unknown units from the built in encoders. Position may also wrap around between the mechanical hard stops.
Electrical Details:
Thruster cables run black to top left, white to top right.
Roboteq pinouts:
2: TxOut - green - DB9 pin 2
3: RxIn - blue - DB9 pin 3
4: DIN1 - estop
9: DOUT2 - sink for arm relay control
14: +5v - estop (NC)