MEASURE_FRICTION_RESPONSE

This structure represents the result data of joint friction measurement, including the measurement status, error magnitude, friction characteristics in both motion directions, and joint temperature at the time of testing.

BYTE#	Field Name	Data Type	Value	Remarks
0	_iResult	unsigned char[6]	0 or 1	Measurement result per joint (0: Fail, 1: Success)
6	_fError	float[6]	[N/m]	Measurement error for each joint
30	_fPositive	float[4][6]	[N·m]	Friction torque measured during positive joint motion
126	_fNegative	float[4][6]	[N·m]	Friction torque measured during negative joint motion
222	_fTemperature	float[6]	[°C]	Joint temperature at measurement time

Total size: 246 bytes

Defined in: DRFS.h

typedef struct _MEASURE_FRICTION_RESPONSE
{
    /* Measurement result per joint (0: fail, 1: success) */
    unsigned char _iResult[NUMBER_OF_JOINT];

    /* Measurement error (N/m) */
    float _fError[NUMBER_OF_JOINT];

    /* Positive direction friction torque (4 samples per joint) */
    float _fPositive[4][NUMBER_OF_JOINT];

    /* Negative direction friction torque (4 samples per joint) */
    float _fNegative[4][NUMBER_OF_JOINT];

    /* Joint temperature (°C) */
    float _fTemperature[NUMBER_OF_JOINT];

} MEASURE_FRICTION_RESPONSE, *LPMEASURE_FRICTION_RESPONSE;