DOLY-DIY/cpp/_arm_control_8h_source.html

#pragma once

#include <cstdint>

#include <vector>

#include "ArmEvent.h"


struct ArmData

{

    ArmSide side;


    float angle;

};


namespace ArmControl

{

    int8_t init();


    int8_t dispose();


    bool isActive();


    void Abort(ArmSide side);


    uint16_t getMaxAngle();


    int8_t setAngle(uint16_t id, ArmSide side, uint8_t speed, uint16_t angle, bool with_brake = false);


    ArmState getState(ArmSide side);


    std::vector<ArmData> getCurrentAngle(ArmSide side);


    float getVersion();


} // namespace ArmControl


ArmEvent.h
Event dispatcher API for the Doly ArmControl subsystem.

ArmState
ArmState
High-level state of an arm operation.
Definition ArmEventListener.h:55

ArmSide
ArmSide
Which arm side an operation or event relates to.
Definition ArmEventListener.h:40

ArmControl
Definition ArmControl.h:38

ArmControl::getCurrentAngle
std::vector< ArmData > getCurrentAngle(ArmSide side)
Get the current angle(s) for the requested side(s).

ArmControl::setAngle
int8_t setAngle(uint16_t id, ArmSide side, uint8_t speed, uint16_t angle, bool with_brake=false)
Command the arm to move to an angle.

ArmControl::isActive
bool isActive()
Check whether the subsystem is active (initialized and running).

ArmControl::dispose
int8_t dispose()
Dispose/stop the arm subsystem and release resources.

ArmControl::init
int8_t init()
Initialize the arm subsystem.

ArmControl::Abort
void Abort(ArmSide side)
Abort the current operation for a given side.

ArmControl::getVersion
float getVersion()
Get SDK/library version.

ArmControl::getMaxAngle
uint16_t getMaxAngle()
Get maximum allowed angle for the arm.

ArmControl::getState
ArmState getState(ArmSide side)
Get current operation state for a side.

ArmData
Current arm angle data for one side.
Definition ArmControl.h:25

ArmData::side
ArmSide side
Definition ArmControl.h:27

ArmData::angle
float angle
Angle in degrees.
Definition ArmControl.h:34