HerkulexPacket struct

This struct is used to represent incoming data packets from the Herkulex bus. The HerkulexBus class does some basic processing on incoming data packets and uses this information to fill in the error field. This field is not part of the actual serial data transfer. Likewise, The packet header 0xFF 0xFF is also stripped automatically. The struct has the following declaration:

struct HerkulexPacket {
  uint8_t size;
  uint8_t id;
  HerkulexCommand cmd;
  uint8_t checksum1;
  uint8_t checksum2;
  uint8_t data[HERKULEX_PACKET_RX_MAX_DATA];
  uint8_t status_error;
  uint8_t status_detail;
  HerkulexPacketError error;
};