ArmControl.h File Reference

Public API for Doly arm motion control. More...

#include <cstdint>
#include <vector>
#include "ArmEvent.h"

Go to the source code of this file.

Classes
struct	ArmData
	Current arm angle data for one side. More...

Namespaces
namespace	ArmControl

Functions
int8_t	ArmControl::init ()
	Initialize the arm subsystem.
int8_t	ArmControl::dispose ()
	Dispose/stop the arm subsystem and release resources.
bool	ArmControl::isActive ()
	Check whether the subsystem is active (initialized and running).
void	ArmControl::Abort (ArmSide side)
	Abort the current operation for a given side.
uint16_t	ArmControl::getMaxAngle ()
	Get maximum allowed angle for the arm.
int8_t	ArmControl::setAngle (uint16_t id, ArmSide side, uint8_t speed, uint16_t angle, bool with_brake=false)
	Command the arm to move to an angle.
ArmState	ArmControl::getState (ArmSide side)
	Get current operation state for a side.
std::vector< ArmData >	ArmControl::getCurrentAngle (ArmSide side)
	Get the current angle(s) for the requested side(s).
float	ArmControl::getVersion ()
	Get SDK/library version.

Detailed Description

Public API for Doly arm motion control.

Design notes:

• Singleton-style control (namespace API; no instances)
• Functions require init() before use
• State changes are reported asynchronously through ArmEvent/ArmEventListener

Threading notes:

• Events/callbacks are typically invoked from an internal worker/event thread