Joint control

For serial multi-joint robots, joint control is the control of the variables of each joint of the robot arm. The goal is to make each joint of the robot arm reach the target position at a certain speed.

Single joint control

Send single joint angle

WriteAngle(Joint joint, double value, int speed = DefaultSpeed)
Return value: None
Parameter description: Parameter 1: Joint number (1-6) Parameter 2: Angle (-170°- 170°) Parameter 3: Speed ​​(0-100), default is 30
Example:
mycobot::MyCobot::I().WriteAngle(mycobot::Joint::J1, 10, 30);

Multi-joint control

Get all joint angles

GetAngles()
Return value: Angles type
Parameter description: None
Example:
mycobot::Angles angles= mycobot::MyCobot::I().GetAngles();

Send all joint angles

WriteAngles(const Angles& angles, int speed = DefaultSpeed)
Return value: None
Parameter description: Parameter 1: All angles (std::array, angle range -170°- 170°) Parameter 2: Speed ​​(0-100), default is 30
Example:

mycobot::Angles goal_angles = { 5, 5, 5, 5, 5, 5 };<br> mycobot::MyCobot::I().WriteAngles(goal_angles, 30);<br>

Complete use case

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().StopRobot();
    std::cout << "Robot is moving: " << mycobot::MyCobot::I().IsMoving() << "\n";
    mycobot::Angles angles = mycobot::MyCobot::I().GetAngles();
    std::this_thread::sleep_for(200ms);
    mycobot::Coords coords = mycobot::MyCobot::I().GetCoords();
    angles = mycobot::MyCobot::I().GetAngles();
    std::cout << "[" << angles[mycobot::J1] << ", " << angles[mycobot::J2] << ", " << angles[mycobot::J3] << ", "
        << angles[mycobot::J4] << ", " << angles[mycobot::J5] << ", " << angles[mycobot::J6] << "]";
    mycobot::Angles goal_angles = { 5, 5, 5, 5, 5, 5 };
    mycobot::MyCobot::I().WriteAngles(goal_angles);
    while (!mycobot::MyCobot::I().IsInPosition(goal_angles, false)) {
        angles = mycobot::MyCobot::I().GetAngles();
        std::cout << "[" << 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().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);
}