ArmControl Namespace Reference

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

Function Documentation

Abort()

void ArmControl::Abort

(

ArmSide

side

)

Abort the current operation for a given side.

This is intended as an emergency/stop action.

Parameters

side	Arm side to abort (LEFT/RIGHT/BOTH).

dispose()

int8_t ArmControl::dispose

(

)

Dispose/stop the arm subsystem and release resources.

Returns

Status code:

• 0 : success
• 1 : not initialized

Examples

ArmControl/main.cpp.

getCurrentAngle()

std::vector< ArmData > ArmControl::getCurrentAngle

(

ArmSide

side

)

Get the current angle(s) for the requested side(s).

Parameters

side	Requested side (LEFT/RIGHT/BOTH).

Returns

Vector of ArmData entries. If side == BOTH, the vector may contain 2 elements.

Examples

ArmControl/main.cpp.

getMaxAngle()

uint16_t ArmControl::getMaxAngle

(

)

Get maximum allowed angle for the arm.

Returns

Maximum angle (degrees).

getState()

ArmState ArmControl::getState

(

ArmSide

side

)

Get current operation state for a side.

Parameters

side

Arm side.

Returns

Current ArmState.

Examples

ArmControl/main.cpp.

getVersion()

float ArmControl::getVersion

(

)

Get SDK/library version.

Format note from original header: 0.XYZ (3 digits after major).

Returns

Version as float.

Examples

ArmControl/main.cpp.

init()

int8_t ArmControl::init

(

)

Initialize the arm subsystem.

This must be called once before other control functions.

Returns

Status code:

• 0 : success
• 1 : already initialized
• -1 : left servo enable pin set failed
• -2 : right servo enable pin set failed

Note

After successful init(), isActive() should return true.

Examples

ArmControl/main.cpp.

isActive()

bool ArmControl::isActive

(

)

Check whether the subsystem is active (initialized and running).

Returns

true if active, false otherwise.

setAngle()

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.

The operation is handled asynchronously (non-blocking). Results are reported via:

• ArmEventListener::onArmComplete()
• ArmEventListener::onArmError()
• ArmEventListener::onArmStateChange()

Parameters

id	User-defined command identifier (echoed back in completion/error callbacks).
side	Arm side to move (LEFT/RIGHT/BOTH).
speed	Speed percentage in range [1..100].
angle	Target angle in degrees in range [0..getMaxAngle()].
with_brake	If true, apply brake/hold behavior at target (implementation-defined).

Returns

Status code:

• 0 : success (command accepted)
• -1 : not active (init() not called or subsystem not running)
• -2 : speed out of range
• -3 : angle out of range

Warning

This function is non-blocking; it does not wait for motion completion.

Examples

ArmControl/main.cpp.