one.Joint control
In this case, the machine will be powered on first, and then the current Angle will be read. After that, the minimum Angle and maximum Angle of joint 1 will be read for single joint Angle control and multi-joint Angle control, and then the specified joint motion, the point motion of absolute position and the point motion of incremental position will be carried out in jog movement. All of the motions mentioned above will print out motion information.
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(); // Power on the robot
mycobot::MyCobot::I().StopRobot(); // Stop the robot
std::cout << "Robot is moving: " << mycobot::MyCobot::I().IsMoving() << "\n"; // Check if the robot is moving
mycobot::Angles angles = mycobot::MyCobot::I().GetAngles(); // Get the current angles of the robot
std::this_thread::sleep_for(200ms);
mycobot::Coords coords = mycobot::MyCobot::I().GetCoords(); // Get the current coordinates of the robot
angles = mycobot::MyCobot::I().GetAngles(); // Get the current angles of the robot
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); // Send single joint angle
while (mycobot::MyCobot::I().IsMoving()) { // Check if the robot has reached the target angle
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 }; // Define a set of angles
mycobot::MyCobot::I().WriteAngles(goal_angles); // Send joint angles
while (mycobot::MyCobot::I().IsMoving()) { // Check if the robot has reached the angles
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); // Read the minimum joint angle
std::cout << "Current joint angle" << "[" << angles[mycobot::J1] << "]" << std::flush;
std::this_thread::sleep_for(200ms);
mycobot::MyCobot::I().GetJointMax(mycobot::Joint::J1); // Read the maximum joint angle
std::cout << "Current joint angle" << "[" << angles[mycobot::J1] << "]" << std::flush;
std::this_thread::sleep_for(200ms);
// Jog motion on a specified joint
mycobot::MyCobot::I().JogAngle((mycobot::Joint)0, 100, 5);
std::this_thread::sleep_for(200ms);
while (mycobot::MyCobot::I().IsMoving()) { // Check if the motion is completed
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);
}
// Jog motion with incremental position on a specified joint
mycobot::MyCobot::I().JogAngleIncrement((mycobot::Joint)0, 5, 180);
std::this_thread::sleep_for(200ms);
while (mycobot::MyCobot::I().IsMoving()) { // Check if the motion is completed
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); // Delay function
mycobot::MyCobot::I().StopRobot(); // Stop the robot
std::cout << "\n";
exit(EXIT_SUCCESS); // Exit with 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;
}
two.Coordinate control
In this case, the machine will be powered on first, and then the current coordinates will be read. After that, the single coordinate control and multiple coordinate control will be carried out, and then the specified joint coordinate movement in jog motion, the coordinate point movement of absolute position and the coordinate point movement of incremental position will be carried out. All of the motions mentioned above will print out motion information.
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(); // Power on the robot
mycobot::MyCobot::I().StopRobot(); // Stop the robot
std::cout << "Robot is moving: " << mycobot::MyCobot::I().IsMoving() << "\n";
mycobot::Angles angles = mycobot::MyCobot::I().GetAngles(); // Get current joint angles
std::this_thread::sleep_for(200ms);
mycobot::Coords coords = mycobot::MyCobot::I().GetCoords(); // Get current coordinates
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] << "]";
// Send single-parameter coordinates
mycobot::Coords goal_coords = { 90, 0, 0, 0, 0, 0 }; // Define target coordinates
mycobot::MyCobot::I().WriteCoord(mycobot::Axis::X, 90, 180); // Send target coordinates
while (!mycobot::MyCobot::I().IsInPosition(goal_coords, false)) {
coords = mycobot::MyCobot::I().GetCoords(); // Get current coordinates
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);
}
// Send all coordinates
goal_coords = { 100, 100, 0, 0, 0, 0 }; // Define target coordinates
mycobot::MyCobot::I().WriteCoords(goal_coords, 30);
while (!mycobot::MyCobot::I().IsInPosition(goal_coords, false)) {
coords = mycobot::MyCobot::I().GetCoords(); // Get current coordinates
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);
}
// Jog motion on a specified coordinate axis
mycobot::MyCobot::I().JogCoord(mycobot::Axis::X, 1, 30);
while (mycobot::MyCobot::I().IsMoving()) {
coords = mycobot::MyCobot::I().GetCoords(); // Get current coordinates
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);
}
// Jog motion with incremental position on a specified coordinate axis
mycobot::MyCobot::I().JogCoordIncrement(mycobot::Axis::X, 30, 30);
while (mycobot::MyCobot::I().IsMoving()) {
coords = mycobot::MyCobot::I().GetCoords(); // Get current coordinates
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;
}
tree.IO control
In this example, the machine will be powered on first, the io output will be set, 2, 5, 26 are m5 output pins,35, 36 are m5 input pins, and atom output pins 23, 33 output high level, and read the level information of atom input pins 22, 19.
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);
}
}