What does filed "index_toggle_bit" mean when using SPI connection?

Software
1

Hi every one:
I am now using master-board for two motors,one motor seems out of control in some time,when this happens, i call the member function Print of Motor class,here is the output :

is_enabled | is_ready | index_toggle_bit | has_index_been_detected | pos | vel current
----|-----|-----|-----|-----|-----|-----|------
1|1|0| 0| 0| 0| 0|

i try rotate the motor by hand for more than one cycle,the index_toggle_bit
and has_index_been_detected are still zero.

The other motor works as expected,and the outout is:
is_enabled | is_ready | index_toggle_bit | has_index_been_detected | pos | vel current
----|-----|-----|-----|-----|-----|-----|------
1|1|1| 1| 0| 0| 0|

It seems the value of index_toggle_bit and has_index_been_detected tell the reason why motor not work well.

Does anyone know what is the meaning about the index_toggle_bit and has_index_been_detected?

Thanks very much!

2

When the motor out of control,i try to print the real current sent to the master-board in function SendCommand(),the sent current is 3A(that is what i sent at high level),and then print the current for that motor in function ParseSensorData(),the received current is about 0.1A. This seems weird.