关节控制
在这个案例下，首先接通机器电源，然后读取当前角度。然后，在单关节角度控制和多关节角度控制中读取关节 1 的最小角度和最大角度，然后在点动运动中执行指定的关节运动、绝对位置点运动和增量位置点运动。上述所有运动都将打印运动信息。
```c++
int main(int argc, char* argv[]) {
try {
QCoreApplication a(argc, argv);
using namespace std::chrono_literals;
if (!mycobot::MyCobot::I().IsControllerConnected()) {
std::cerr << "Robot is not connected\n";
exit(EXIT_FAILURE);
}
std::cout << "Robot is connected\n";
mycobot::MyCobot::I().PowerOn(); // 打开机器电源
mycobot::MyCobot::I().StopRobot(); // 关闭机器
std::cout << "Robot is moving: " << mycobot::MyCobot::I().IsMoving() << "\n"; // 检查机器是否在运动
mycobot::Angles angles = mycobot::MyCobot::I().GetAngles(); // 获取机器的当前角度
std::this_thread::sleep_for(200ms);
mycobot::Coords coords = mycobot::MyCobot::I().GetCoords(); // 获取机器的当前坐标
angles = mycobot::MyCobot::I().GetAngles(); // 获取机器的当前角度
std::cout << "[" << angles[mycobot::J1] << ", " << angles[mycobot::J2] << ", " << angles[mycobot::J3] << ", "
<< angles[mycobot::J4] << ", " << angles[mycobot::J5] << ", " << angles[mycobot::J6] << "]";
mycobot::MyCobot::I().WriteAngle(mycobot::Joint::J1, 10, 30); // 发送单关节角度
while (mycobot::MyCobot::I().IsMoving()) { // 检查机器是否已到达目标角度
angles = mycobot::MyCobot::I().GetAngles();
std::cout << "Current joint angles" << "[" << angles[mycobot::J1] << ", " << angles[mycobot::J2] << ", "
<< angles[mycobot::J3] << ", " << angles[mycobot::J4] << ", "
<< angles[mycobot::J5] << ", " << angles[mycobot::J6] << "]" << std::flush;
std::this_thread::sleep_for(200ms);
}
mycobot::Angles goal_angles = { 5, 5, 5, 5, 5, 5 }; // 定义一组角度
mycobot::MyCobot::I().WriteAngles(goal_angles); // 发送关节角度
while (mycobot::MyCobot::I().IsMoving()) { // 检查机器是否已到达角度
angles = mycobot::MyCobot::I().GetAngles();
std::cout << "Current angles" << "[" << angles[mycobot::J1] << ", " << angles[mycobot::J2] << ", "
<< angles[mycobot::J3] << ", " << angles[mycobot::J4] << ", "
<< angles[mycobot::J5] << ", " << angles[mycobot::J6] << "]" << std::flush;
std::this_thread::sleep_for(200ms);
}
mycobot::MyCobot::I().GetJointMin(mycobot::Joint::J1); // 读取最小关节角度
std::cout << "Current joint angle" << "[" << angles[mycobot::J1] << "]" << std::flush;
std::this_thread::sleep_for(200ms);
mycobot::MyCobot::I().GetJointMax(mycobot::Joint::J1); // 读取最大关节角度
std::cout << "Current joint angle" << "[" << angles[mycobot::J1] << "]" << std::flush;
std::this_thread::sleep_for(200ms);
// 在指定关节上做点动运动
mycobot::MyCobot::I().JogAngle((mycobot::Joint)0, 100, 5);
std::this_thread::sleep_for(200ms);
while (mycobot::MyCobot::I().IsMoving()) { // 检查运动是否已完成
angles = mycobot::MyCobot::I().GetAngles();
std::cout << "Performing specified motion, current angle of joint 1" << "[" << angles[mycobot::J1] << "]"
<< std::flush;
std::this_thread::sleep_for(200ms);
}
// 在指定关节上进行位置递增的点动运动
mycobot::MyCobot::I().JogAngleIncrement((mycobot::Joint)0, 5, 180);
std::this_thread::sleep_for(200ms);
while (mycobot::MyCobot::I().IsMoving()) { // 检查运动是否已完成
angles = mycobot::MyCobot::I().GetAngles();
std::cout << "Performing incremental motion, current angle of joint 1" << "[" << angles[mycobot::J1] << "]"
<< std::flush;
std::this_thread::sleep_for(200ms);
}
std::this_thread::sleep_for(5000ms); // 延迟功能
mycobot::MyCobot::I().StopRobot(); // 停止机器
std::cout << "\n";
exit(EXIT_SUCCESS); // 成功退出
} catch (std::error_code&) {
std::cerr << "System error. Exiting.\n";
exit(EXIT_FAILURE);
} catch (...) {
std::cerr << "Unknown exception thrown. Exiting.\n";
exit(EXIT_FAILURE);
}
return 0;
}
```
协调控制
在这个案例下，首先接通机器电源，然后读取当前坐标。然后执行单坐标控制和多坐标控制，再执行点动运动中的指定关节坐标运动、绝对位置坐标点运动和增量位置坐标点运动。上述所有运动都将打印运动信息。
```C++
int main(int argc, char* argv[]) {
try {
QCoreApplication a(argc, argv);
using namespace std::chrono_literals;
if (!mycobot::MyCobot::I().IsControllerConnected()) {
std::cerr << "Robot is not connected\n";
exit(EXIT_FAILURE);
}
std::cout << "Robot is connected\n";
mycobot::MyCobot::I().PowerOn(); // 打开机器电源
mycobot::MyCobot::I().StopRobot(); // 停止机器
std::cout << "Robot is moving: " << mycobot::MyCobot::I().IsMoving() << "\n";
mycobot::Angles angles = mycobot::MyCobot::I().GetAngles(); // 获取当前关节角度
std::this_thread::sleep_for(200ms);
mycobot::Coords coords = mycobot::MyCobot::I().GetCoords(); // 获取当前坐标
std::cout << "Coordinates before motion" << "[" << coords[mycobot::Axis::X] << ", " << coords[mycobot::Axis::Y] << ", " << coords[mycobot::Axis::Z] << ", "
<< coords[mycobot::Axis::RX] << ", " << coords[mycobot::Axis::RY] << ", " << coords[mycobot::Axis::RZ] << "]";
// 发送单参数坐标
mycobot::Coords goal_coords = { 90, 0, 0, 0, 0, 0 }; // 定义目标坐标
mycobot::MyCobot::I().WriteCoord(mycobot::Axis::X, 90, 180); // 发送目标坐标
while (!mycobot::MyCobot::I().IsInPosition(goal_coords, false)) {
coords = mycobot::MyCobot::I().GetCoords(); // 获取当前坐标
std::cout << "Coordinates after single-parameter motion" << "[" << coords[mycobot::Axis::X] << ", " << coords[mycobot::Axis::Y] << ", "
<< coords[mycobot::Axis::Z] << ", " << coords[mycobot::Axis::RX] << ", "
<< coords[mycobot::Axis::RY] << ", " << coords[mycobot::Axis::RZ] << "]" << std::flush;
std::this_thread::sleep_for(200ms);
}
// 发送所有坐标
goal_coords = { 100, 100, 0, 0, 0, 0 }; // 定义目标坐标
mycobot::MyCobot::I().WriteCoords(goal_coords, 30);
while (!mycobot::MyCobot::I().IsInPosition(goal_coords, false)) {
coords = mycobot::MyCobot::I().GetCoords(); // 获取当前坐标
std::cout << "Coordinates after all-coordinates motion" << "[" << coords[mycobot::Axis::X] << ", " << coords[mycobot::Axis::Y] << ", "
<< coords[mycobot::Axis::Z] << ", " << coords[mycobot::Axis::RX] << ", "
<< coords[mycobot::Axis::RY] << ", " << coords[mycobot::Axis::RZ] << "]" << std::flush;
std::this_thread::sleep_for(200ms);
}
// 在指定坐标轴上做点动运动
mycobot::MyCobot::I().JogCoord(mycobot::Axis::X, 1, 30);
while (mycobot::MyCobot::I().IsMoving()) {
coords = mycobot::MyCobot::I().GetCoords(); // 获取当前坐标
std::cout << "Coordinates after jogging on specified axis" << "[" << coords[mycobot::Axis::X] << ", " << coords[mycobot::Axis::Y] << ", "
<< coords[mycobot::Axis::Z] << ", " << coords[mycobot::Axis::RX] << ", "
<< coords[mycobot::Axis::RY] << ", " << coords[mycobot::Axis::RZ] << "]" << std::flush;
std::this_thread::sleep_for(200ms);
}
// 在指定坐标轴上进行位置递增的点动运动
mycobot::MyCobot::I().JogCoordIncrement(mycobot::Axis::X, 30, 30);
while (mycobot::MyCobot::I().IsMoving()) {
coords = mycobot::MyCobot::I().GetCoords(); // 获取当前坐标
std::cout << "Coordinates after incremental jogging on specified axis" << "[" << coords[mycobot::Axis::X] << ", " << coords[mycobot::Axis::Y] << ", "
<< coords[mycobot::Axis::Z] << ", " << coords[mycobot::Axis::RX] << ", "
<< coords[mycobot::Axis::RY] << ", " << coords[mycobot::Axis::RZ] << "]" << std::flush;
std::this_thread::sleep_for(200ms);
}
mycobot::MyCobot::I().JogAngle(mycobot::Joint::J1, 1, 5);
std::this_thread::sleep_for(5000ms);
mycobot::MyCobot::I().StopRobot();
std::cout << "\n";
exit(EXIT_SUCCESS);
} catch (std::error_code&) {
std::cerr << "System error. Exiting.\n";
exit(EXIT_FAILURE);
} catch (...) {
std::cerr << "Unknown exception thrown. Exiting.\n";
exit(EXIT_FAILURE);
}
return 0;
}
```
IO 控制
在本示例中，首先打开机器电源，设置 io 输出，2、5、26 为 m5 输出引脚，35、36 为 m5 输入引脚，原子输出引脚 23、33 输出高电平，并读取原子输入引脚 22、19 的电平信息。
```C++
int main(int argc, char* argv[])
{
try {
QCoreApplication a(argc, argv);
using namespace std::chrono_literals;
if (!mycobot::MyCobot::I().IsControllerConnected()) {
std::cerr << "Robot is not connected\n";
exit(EXIT_FAILURE);
}
std::cout << "Robot is connected\n";
mycobot::MyCobot::I().PowerOn();
mycobot::MyCobot::I().SleepSecond(1);
mycobot::MyCobot::I().SetBasicOut(2, 1);
mycobot::MyCobot::I().SleepSecond(1);
mycobot::MyCobot::I().SetBasicOut(5, 1);
mycobot::MyCobot::I().SleepSecond(1);
mycobot::MyCobot::I().SetBasicOut(26, 1);
mycobot::MyCobot::I().SleepSecond(1);
for (int i = 0; i < 2; i++) {
std::cout << "35= " << mycobot::MyCobot::I().GetBasicIn(35) << std::endl;
mycobot::MyCobot::I().SleepSecond(1);
std::cout << "36= " << mycobot::MyCobot::I().GetBasicIn(36) << std::endl;
mycobot::MyCobot::I().SleepSecond(1);
}
/*mycobot::MyCobot::I().SetDigitalOut(23, 1);
mycobot::MyCobot::I().SleepSecond(1);
mycobot::MyCobot::I().SetDigitalOut(33, 1);
mycobot::MyCobot::I().SleepSecond(1);*/
for (int i = 0; i < 2; i++) {
std::cout << "22= " << mycobot::MyCobot::I().GetDigitalIn(22) << std::endl;
mycobot::MyCobot::I().SleepSecond(1);
std::cout << "19= " << mycobot::MyCobot::I().GetDigitalIn(19) << std::endl;
mycobot::MyCobot::I().SleepSecond(1);
}
mycobot::MyCobot::I().StopRobot();
std::cout << "Robot is moving: " << mycobot::MyCobot::I
std::this_thread::sleep_for(5000ms);
mycobot::MyCobot::I().StopRobot();
std::cout << "\n";
exit(EXIT_SUCCESS);
} catch (std::error_code&) {
std::cerr << "System error. Exiting.\n";
exit(EXIT_FAILURE);
} catch (...) {
std::cerr << "Unknown exception thrown. Exiting.\n";
exit(EXIT_FAILURE);
}
}
```