About the length of motorState and the position in HighState

[gyt290811]

Hello, the robot has only 12 motors and why the length of motorState is 20? std::array<MotorState, 20> motorState; How do I know which joint motor's state corresponds to each part in the motorState? Is their order the same as in quadruped.h? What are the remaining eight variables in motorState? After starting the robot, I control it to move backward, but the position[0] is showing a positive value. What may cause this problem?

[xyq1223]

Hello, regarding motorState ， we actually only use twelve, and the last eight are reserved bits, so you don’t need to worry about it.