Joint control

For a serial multi-joint robot, the joint control is to control the variables of each joint of the robot arm so as to make each joint reaches a target position at a certain speed.

1 Single joint control

1.1 Sending the angle of single joint

SendOneAngle(int jointNo, int angle, int speed)
Return value: none
Parameter description: Parameter 1: joint number (1-6), Parameter 2: angle (ranging from -170° to 170°), and Parameter 3: speed (0-100)
Case:

``````mc.SendOneAngle(1, 100, 70); ## 9.3.2 Multi-joint control
``````

2 Multiple joint control

2.1 Get the angles of all joints

GetAngles()
Return value: return an array of int type, int[], length: 6
Description of parameters: none
Case:

``````var recv = mc.GetAngles();
``````

2.2 send the angles of all joints

SendAngles(int[] angles, int speed)
Return value: none
Parameter description: Parameter 1: the angles of all joints (ranging from -170° to 170°), and Parameter 2: speed (0-100)
Case:

``````int[] angles = new[] {100, 100, 100, 100, 100, 100};
mc.SendAngles(angles ,30);
int[] angles = new[] {100, 100, 100, 100, 100, 100};
mc.SendAngles(angles,30);
``````

3 Complete use cases

The program.cs in the project is a complete use case program, which can be modified as needed on this basis.

``````using System;

namespace Mycobot.csharp
{
class Test
{
static void Main(string[] args)
{
MyCobot mc = new MyCobot("/dev/ttyUSB0");
mc.Open();
// int[] angles = new[] {100, 100, 100, 100, 100, 100};
// mc.SendAngles(angles, 50);
// var recv = mc.GetAngles();
// foreach (var v in recv)
// {
// Console.WriteLine(v);
// }

// int[] coords = new[] {160, 160, 160, 0, 0, 0};
// mc.SendCoords(coords, 90, 1);
// var recv = mc.GetCoords();
// foreach (var v in recv)
// {
// Console.WriteLine(v);
// }

mc.SendOneAngle(1, 100,70);

// byte[] setColor = {0xfe, 0xfe, 0x05, 0x6a, 0xff, 0x00, 0x00, 0xfa};
mc.Close();
}
}
}
``````