RobotDriver C++ API Reference

This document describes the public interfaces of the RobotArm class (include/RobotArm.hpp). Signatures and types follow the header file; Angles and Coords are std::array<float, 6>, and Param contains ip_serial and port_baud (see include/config.hpp).

Note: RobotArm currently does not encapsulate extended capabilities such as gripper or tool/base IO.

Each API item below is documented with Function, Return Value, Parameter Description, and Range. The listed ranges apply to MyCobotPro450.

Quick Connection and Types

#include "RobotArm.hpp"
#include "config.hpp"

Param p;
p.ip_serial = "192.168.0.232";
p.port_baud = 4500;
RobotArm arm(TCP_COMM, p);

Symbol	Range / Meaning
`TCP_COMM`	`1`, Socket (TCP)

General convention: for most int APIs, 1 usually means command success or valid response received under normal communication, and -1 usually means communication failure or invalid/missing response. Actual behavior follows controller firmware.

Construction and Destruction

`RobotArm(uint8_t mode, Param params)`

Function: Constructs an instance; internally creates Protocol and starts communication (begin()).
Return Value: None.
Parameter Description: mode is communication type; params contains address/port or serial parameters.
Range: mode ∈ {TCP_COMM (1), SERIAL_COMM (2)}; for TCP, port_baud is the port (for example 4500) and ip_serial is a reachable IP. Serial communication is not supported at present.

`~RobotArm()`

Function: Destructor; releases protocol and communication resources.
Return Value: None.
Parameter Description: None.
Range: None.

System Configuration, Power, and Version Information

`int powerOn()`

Function: Powers on the robotic arm.
Return Value: 1 success; 0 failure; -1 no communication (subject to controller behavior).
Parameter Description: None.
Range: None.

`int powerOff()`

Function: Powers off the robotic arm.
Return Value: 1 command accepted; -1 no communication.
Parameter Description: None.
Range: None.

`int isPowerOn()`

Function: Checks power state.
Return Value: 1 powered on; 0 not powered on; 2 power-on failure state; -1 no communication.
Parameter Description: None.
Range: None.

`vector<int> isInitCalibration()`

Function: Queries zero-position / calibration related status.
Return Value: Integer vector; length and semantics depend on the controller.
Parameter Description: None.
Range: None.

`string getLibVersion()`

Function: Reads library version string.
Return Value: Version string (for example, matching LIB_VERSION).
Parameter Description: None.
Range: None.

`string getSystemVersion()`

Function: Reads main controller/system version.
Return Value: Version string.
Parameter Description: None.
Range: None.

`int getModifyVersion()`

Function: Reads main controller patch version.
Return Value: Integer patch version.
Parameter Description: None.
Range: None.

`string getRobotType()`

Function: Reads robot model type string.
Return Value: For example 4503, depending on controller return.
Parameter Description: None.
Range: None.

`string getAtomVersion()`

Function: Reads end-effector firmware version.
Return Value: Version string.
Parameter Description: None.
Range: None.

`int getToolModifyVersion()`

Function: Reads end-effector patch version.
Return Value: Integer.
Parameter Description: None.
Range: None.

Control Mode and Refresh Mode

`int getFreshMode()`

Function: Gets refresh/queue motion mode.
Return Value: 0 interpolation/queue order; 1 refresh mode (latest command first); may return -1 on failure.
Parameter Description: None.
Range: None.

`int setFreshMode(bool mode)`

Function: Sets position motion mode.
Return Value: int, usually 1 on success, -1 on failure.
Parameter Description: mode: false→0 (interpolation), true→1 (refresh).
Range: Boolean mapped to 0 / 1.

`int getControlMode()`

Function: Gets control mode (position/torque).
Return Value: 0 position mode; 1 torque mode; -1 on failure.
Parameter Description: None.
Range: None.

`int setControlMode(bool mode)`

Function: Sets control mode.
Return Value: int, usually 1 on success, -1 on failure.
Parameter Description: mode: false→position (0), true→torque (1).
Range: Boolean mapped to 0 / 1.

Joint Control

`int sendAngle(uint8_t joint, float angle, uint8_t sp)`

Function: Sends target angle for a single joint.
Return Value: int, usually 1 on success, -1 on failure.
Parameter Description: joint joint index; angle target angle (°); sp speed level.
Range: joint: 1 ~ 6; angle (°): J1 -162~162, J2 -125~125, J3 -154~154, J4 -162~162, J5 -162~162, J6 -165~165; sp: 1 ~ 100.

`int sendAngles(Angles angles, uint8_t sp)`

Function: Sends target angles for all six joints in one command.
Return Value: int, usually 1 on success, -1 on failure.
Parameter Description: angles length 6; sp speed level.
Range: Each element uses the same joint-specific range as sendAngle; sp: 1 ~ 100.

`float getAngle(uint8_t joint)`

Function: Reads current angle of one joint.
Return Value: Floating angle (°); may return sentinel value when invalid/failed (depends on integration behavior).
Parameter Description: joint joint index.
Range: joint: 1 ~ 6.

`Angles getAngles()`

Function: Reads all six current joint angles.
Return Value: Angles, six floating-point values.
Parameter Description: None.
Range: None.

`float getJointMinAngle(uint8_t joint)`

Function: Reads software minimum angle limit of a joint.
Return Value: Float (°).
Parameter Description: joint.
Range: joint: 1 ~ 6.

`float getJointMaxAngle(uint8_t joint)`

Function: Reads software maximum angle limit of a joint.
Return Value: Float (°).
Parameter Description: joint.
Range: joint: 1 ~ 6.

`int jogAngle(uint8_t joint, uint8_t direction, uint8_t speed)`

Function: Continuous joint JOG until limit is reached or stop() is called.
Return Value: int, usually 1 on success, -1 on failure.
Parameter Description: joint; direction; speed.
Range: joint: 1 ~ 6; direction: 0 negative, 1 positive; speed: 1 ~ 100.

`int setFreeMoveMode(bool state)`

Function: Sets free-move mode (manual guiding, etc.).
Return Value: int, usually 1 on success, -1 on failure.
Parameter Description: state, false off, true on.
Range: Mapped to 0 / 1.

`int getFreeMoveMode()`

Function: Gets free-move mode state.
Return Value: 0 off; 1 on; -1 no communication.
Parameter Description: None.
Range: None.

`int setMotorEnabled(uint8_t joint, bool state)`

Function: Enables/disables torque for one joint motor.
Return Value: int, usually 1 on success, -1 on failure.
Parameter Description: joint; state (false disable torque, true enable torque).
Range: joint: 1 ~ 6 or 254 (all joints).

`int servoRestore(uint8_t joint)`

Function: Clears joint abnormality / restore command.
Return Value: int, usually 1 on success, -1 on failure.
Parameter Description: joint.
Range: joint: 1 ~ 6 or 254 (all joints).

`void setWaitArrival(bool enable)`

Function: Sets whether motion commands wait for arrival before returning (closed-loop/open-loop); default is not closed-loop.
Return Value: None.
Parameter Description: enable, true closed-loop wait, false open-loop immediate return.
Range: Boolean.

`bool getWaitArrival() const`

Function: Queries whether wait-arrival is enabled.
Return Value: true / false.
Parameter Description: None.
Range: None.

`bool waitPosArrived(int timeout_ms = 30000)`

Function: Blocks until POS_ARRIVED-type arrival feedback is received.
Return Value: true if arrived, false on timeout.
Parameter Description: timeout_ms timeout.
Range: timeout_ms > 0 (ms), default 30000.

Drag Teaching

`int dragTeachSave()`

Function: Starts drag-teach trajectory recording.
Return Value: int, usually 1 on success, -1 on failure.
Parameter Description: None.
Range: Single recording duration ≤ 120 s.

`int dragTeachPause()`

Function: Pauses drag-teach recording.
Return Value: int, usually 1 on success, -1 on failure.
Parameter Description: None.
Range: None.

`int dragTeachExecute()`

Function: Executes recorded trajectory once.
Return Value: int, usually 1 on success, -1 on failure.
Parameter Description: None.
Range: None.

`int dragTeachClean()`

Function: Clears recorded drag-teach sample points.
Return Value: int, usually 1 on success, -1 on failure.
Parameter Description: None.
Range: None.

Coordinate Control

`int sendCoord(uint8_t axis, float coord, uint8_t sp)`

Function: Sends a single coordinate/pose component.
Return Value: int, usually 1 on success, -1 on failure.
Parameter Description: axis 1~6 maps to x,y,z,rx,ry,rz; coord value; sp speed level.
Range: axis: 1 ~ 6; x,y (mm) -474 ~ 474; z (mm) -180 ~ 677; rx,ry,rz (°) -180 ~ 180; sp: 1 ~ 100.

`int SendCoords(Coords coords, uint8_t sp)`

Function: Sends full 6D pose [x,y,z,rx,ry,rz].
Return Value: int, usually 1 on success, -1 on failure.
Parameter Description: coords length 6; sp speed level.
Range: Each component follows the corresponding sendCoord axis range; sp: 1 ~ 100.

`Coords getCoords()`

Function: Reads current coordinates/pose.
Return Value: Coords, six floating-point values.
Parameter Description: None.
Range: None.

`int jogCoord(uint8_t axis, uint8_t direction, uint8_t speed)`

Function: Continuous coordinate-axis JOG.
Return Value: int, usually 1 on success, -1 on failure.
Parameter Description: axis; direction; speed.
Range: axis: 1 ~ 6; direction: 0 negative, 1 positive; speed: 1 ~ 100.

Motion Control (Shared by Joint and Coordinate)

`int stop()`

Function: Stops current motion.
Return Value: int, usually 1 on success, -1 on failure.
Parameter Description: None.
Range: None.

`int pause()`

Function: Pauses motion commands.
Return Value: int, e.g. 1 paused, 0 not stopped, -1 error (controller-specific).
Parameter Description: None.
Range: None.

`int resume()`

Function: Resumes motion.
Return Value: int, usually 1 on success, -1 on failure.
Parameter Description: None.
Range: None.

`int isPaused()`

Function: Checks pause state.
Return Value: 1 paused; 0 not paused; -1 error.
Parameter Description: None.
Range: None.

`int isMoving()`

Function: Checks whether robot is moving.
Return Value: 1 moving; 0 static; -1 error.
Parameter Description: None.
Range: None.

`int isInPosition(Angles angle_coords, bool mode)`

Function: Checks whether current state reached a target (angles or coordinates).
Return Value: 1 reached; 0 not reached; -1 abnormal or no valid response.
Parameter Description: angle_coords six target values; mode data type flag.
Range: mode: false means joint angles (°); true means coordinates (mm/°, same axis definition as sendCoord). Component ranges follow the corresponding joint/coordinate tables.

Robot Exception Handling and Status

`int getErrorInformation()`

Function: Reads motion/system error code.
Return Value: 0 no error; 1~6 joint over-limit; 32 coordinate no-solution (near reach limit); 33 no adjacent solution in linear motion; 34 speed fusion error; 35 no adjacent solution in null-space motion; 36 singularity no-solution; 81~86 collision-related for J1~J6 (recover using resume, etc.); others depend on firmware.
Parameter Description: None.
Range: None.

`int clearErrorInfomation()`

Function: Clears clearable error information (method spelling follows header file).
Return Value: int, usually 1 on success, -1 on failure.
Parameter Description: None.
Range: None.

`vector<int> getRobotStatus()`

Function: Reads robot status.
Return Value: When length is typically 20, items are: 1) collision flag; 2) moving flag; 3~8) J1~J6 over-limit flags; 9~14) J1~J6 motor hardware error flags; 15~20) J1~J6 software communication error flags (0 usually normal, non-zero abnormal). Length may vary by firmware.
Parameter Description: None.
Range: None.

`RobotStatus getRobotStatusDetail()`

Function: Reads structured status (collision, moving, limits, joint status words, communication status words, etc.).
Return Value: RobotStatus struct (see RobotArm.hpp).
Parameter Description: None.
Range: Fields are 0/1 flags or status words, depending on protocol.

`vector<int> getMotorsRunErr()`

Function: Reads motor errors during motion.
Return Value: List of length 6, all 0 usually means normal.
Parameter Description: None.
Range: None.

Speed / Acceleration Parameters

`int getMaxSpeed(uint8_t mode)`

Function: Reads max speed parameter.
Return Value: Current max speed setting; -1 on failure.
Parameter Description: mode: 0 joint angular speed, 1 coordinate linear speed.
Range: mode ∈ {0, 1}; physical ranges: angular speed 1 ~ 150 (°/s), coordinate speed 1 ~ 200 (mm/s).

`int setMaxSpeed(uint8_t mode, uint16_t max_speed)`

Function: Sets max speed.
Return Value: int, usually 1 on success, -1 on failure.
Parameter Description: mode same as getMaxSpeed; max_speed target value.
Range: mode: 0 / 1; max_speed: angular 1~150 (°/s), coordinate 1~200 (mm/s).

`int getMaxAcc(uint8_t mode)`

Function: Reads max acceleration parameter.
Return Value: Current max acceleration; -1 on failure.
Parameter Description: mode: 0 joint angular acceleration, 1 coordinate acceleration.
Range: mode ∈ {0, 1}; angular acceleration 1 ~ 150 (°/s²), coordinate acceleration 1 ~ 400 (mm/s²).

`int setMaxAcc(uint8_t mode, uint16_t max_acc)`

Function: Sets max acceleration.
Return Value: int, usually 1 on success, -1 on failure.
Parameter Description: mode same as getMaxAcc; max_acc target value.
Range: mode: 0 / 1; max_acc: angular 1~150 (°/s²), coordinate 1~400 (mm/s²).

Encoders

`vector<int> getServoEncoders()`

Function: Reads six-joint servo encoder values.
Return Value: Integer vector of length 6 (controller parsing semantics apply).
Parameter Description: None.
Range: None.

Debug

Define ROBOT_ARM_DEBUG during compilation to enable internal RobotArm debug logs (see header comments).

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RobotDriver C++ API Reference

Quick Connection and Types

Construction and Destruction

RobotArm(uint8_t mode, Param params)

~RobotArm()

System Configuration, Power, and Version Information

int powerOn()

int powerOff()

int isPowerOn()

vector<int> isInitCalibration()

string getLibVersion()

string getSystemVersion()

int getModifyVersion()

string getRobotType()

string getAtomVersion()

int getToolModifyVersion()

Control Mode and Refresh Mode

int getFreshMode()

int setFreshMode(bool mode)

int getControlMode()

int setControlMode(bool mode)

Joint Control

int sendAngle(uint8_t joint, float angle, uint8_t sp)

int sendAngles(Angles angles, uint8_t sp)

float getAngle(uint8_t joint)

Angles getAngles()

float getJointMinAngle(uint8_t joint)

float getJointMaxAngle(uint8_t joint)

int jogAngle(uint8_t joint, uint8_t direction, uint8_t speed)

int setFreeMoveMode(bool state)

int getFreeMoveMode()

int setMotorEnabled(uint8_t joint, bool state)

int servoRestore(uint8_t joint)

void setWaitArrival(bool enable)

bool getWaitArrival() const

bool waitPosArrived(int timeout_ms = 30000)