7. 全局值说明

7.1 全身关节 id 定义

消息名称：MotorName

数据定义位置：MotorName.msg

说明：天工行者系列机器人全身电机的命名 ID 定义如下，可根据天工行者不同机型的关节部位进行映射。

# head 00 + id
# 头部电机，均适用于天工行者·无疆
uint16 MOTOR_HEAD_1 = 1 
uint16 MOTOR_HEAD_2 = 2 
uint16 MOTOR_HEAD_3 = 3 

# arm-left 10 + id
# 左臂电机，11-14适用于天工行者和天工行者·无界
uint16 MOTOR_ARM_LEFT_1 = 11
uint16 MOTOR_ARM_LEFT_2 = 12
uint16 MOTOR_ARM_LEFT_3 = 13
uint16 MOTOR_ARM_LEFT_4 = 14
# 左臂电机，15-17适用于天工行者·无疆
uint16 MOTOR_ARM_LEFT_5 = 15
uint16 MOTOR_ARM_LEFT_6 = 16
uint16 MOTOR_ARM_LEFT_7 = 17

# arm-right 20 + id
# 右臂电机，21-24适用于天工行者和天工行者·无界
uint16 MOTOR_ARM_RIGHT_1 = 21
uint16 MOTOR_ARM_RIGHT_2 = 22
uint16 MOTOR_ARM_RIGHT_3 = 23
uint16 MOTOR_ARM_RIGHT_4 = 24
# 右臂电机，25-27适用于天工行者·无疆
uint16 MOTOR_ARM_RIGHT_5 = 25
uint16 MOTOR_ARM_RIGHT_6 = 26
uint16 MOTOR_ARM_RIGHT_7 = 27

# body (including waist) 30 + id
# 腰部电机，适用于天工行者·无界和天工行者·无疆
uint16 MOTOR_WAIST = 31

# leg-left 50 + id
# 左腿电机，51-56适用于天工行者全系列
uint16 MOTOR_LEG_LEFT_1 = 51
uint16 MOTOR_LEG_LEFT_2 = 52
uint16 MOTOR_LEG_LEFT_3 = 53
uint16 MOTOR_LEG_LEFT_4 = 54
uint16 MOTOR_LEG_LEFT_5 = 55
uint16 MOTOR_LEG_LEFT_6 = 56
# leg-right 60 + id
# 右腿电机，61-66适用于天工行者全系列
uint16 MOTOR_LEG_RIGHT_1 = 61
uint16 MOTOR_LEG_RIGHT_2 = 62
uint16 MOTOR_LEG_RIGHT_3 = 63
uint16 MOTOR_LEG_RIGHT_4 = 64
uint16 MOTOR_LEG_RIGHT_5 = 65
uint16 MOTOR_LEG_RIGHT_6 = 66