C, C++:

Get the Robotic Arm State armState

Get the current state, joint temperature, current, and voltage of the robotic arm.

Get the current robotic arm state rm_get_current_arm_state()

Get the robotic arm pose, angle, error code, and system error code.

• Method prototype:

int rm_get_current_arm_state(rm_robot_handle * handle,rm_current_arm_state_t * state)

Jump to rm_robot_handle and rm_current_arm_state_t for details of the structure

• Parameter description:

Parameter	Type	Description
handle	Input	Robotic arm handle.
state	Output	Structure for the current robotic arm state.

• Return value:

Parameter	Type	Description
0	int	Success.
1	int	The controller returns false, indicating that the parameters are sent incorrectly or the robotic arm state is wrong.
-1	int	The data transmission fails, indicating that a problem occurs during the communication.
-2	int	The data reception fails, indicating that a problem occurs during the communication, or the controller has a return timeout.
-3	int	The return value parse fails, indicating that the received data format is incorrect or incomplete.

• Usage demo

// Get the current robotic arm state
rm_current_arm_state_t current_state;  
if (rm_get_current_arm_state(robot_handle, &current_state) == 0) { 
    printf("Current Pose: \n");  
    printf("Position: (%.3f, %.3f, %.3f) m\n",  
           current_state.pose.position.x, current_state.pose.position.y, current_state.pose.position.z);  
    printf("Quaternion: (%.3f, %.3f, %.3f, %.3f)\n",  
           current_state.pose.quaternion.w, current_state.pose.quaternion.x, current_state.pose.quaternion.y, current_state.pose.quaternion.z);  
    printf("Euler Angles: (%.3f, %.3f, %.3f) rad\n",  
           current_state.pose.euler.rx, current_state.pose.euler.ry, current_state.pose.euler.rz);  
    printf("Joint Angles: ");  
    for (int i = 0; i < ARM_DOF; i++) {  
        printf("%.2f ", current_state.joint[i]);  
    }  
    printf("\nArm Error: %u\n", current_state.arm_err);  
    printf("System Error: %u\n", current_state.sys_err);  
} else {  
    printf("Failed to get current arm state\n");  
}

Get the current joint temperature rm_get_current_joint_temperature()

• Method prototype:

int rm_get_current_joint_temperature(rm_robot_handle * handle,float * temperature)

Jump to rm_robot_handle for details of the structure

• Parameter description:

Parameter	Type	Description
handle	Input	Robotic arm handle.
temperature	Output	Save the temperature array of joints 1−7.

• Return value:

Parameter	Type	Description
0	int	Success.
1	int	The controller returns false, indicating that the parameters are sent incorrectly or the robotic arm state is wrong.
-1	int	The data transmission fails, indicating that a problem occurs during the communication.
-2	int	The data reception fails, indicating that a problem occurs during the communication, or the controller has a return timeout.
-3	int	The return value parse fails, indicating that the received data format is incorrect or incomplete.

• Usage demo

float temperature[ARM_DOF];  
if (rm_get_current_joint_temperature(robot_handle, temperature) == 0) {  
    printf("Joint Temperature: "); 
    for (int i = 0; i < ARM_DOF; i++) {  
        printf("%.2f ", temperature[i]);  
    }
    printf("\n");  
} else {  
    printf("Failed to get joint temperature\n");  
}

Get the current joint current rm_get_current_joint_current()

• Method prototype:

int rm_get_current_joint_current(rm_robot_handle * handle,float * current)

Jump to rm_robot_handle for details of the structure

• Parameter description:

Parameter	Type	Description
handle	Input	Robotic arm handle.
current	Output	Save the current array of joints 1−7.

• Return value:

Parameter	Type	Description
0	int	Success.
1	int	The controller returns false, indicating that the parameters are sent incorrectly or the robotic arm state is wrong.
-1	int	The data transmission fails, indicating that a problem occurs during the communication.
-2	int	The data reception fails, indicating that a problem occurs during the communication, or the controller has a return timeout.
-3	int	The return value parse fails, indicating that the received data format is incorrect or incomplete.

• Usage demo

float current[ARM_DOF];  
if (rm_get_current_joint_current(robot_handle, current) == 0) {  
    printf("Joint current: "); 
    for (int i = 0; i < ARM_DOF; i++) {  
        printf("%.2f ", current[i]);  
    }
    printf("\n");  
} else {  
    printf("Failed to get joint current\n");  
}

Get the current joint voltage rm_get_current_joint_voltage()

• Method prototype:

int rm_get_current_joint_voltage(rm_robot_handle * handle,float * voltage)

Jump to rm_robot_handle for details of the structure

• Parameter description:

Parameter	Type	Description
handle	Input	Robotic arm handle.
voltage	Output	Save the voltage array of joints 1−7.

• Return value:

Parameter	Type	Description
0	int	Success.
1	int	The controller returns false, indicating that the parameters are sent incorrectly or the robotic arm state is wrong.
-1	int	The data transmission fails, indicating that a problem occurs during the communication.
-2	int	The data reception fails, indicating that a problem occurs during the communication, or the controller has a return timeout.
-3	int	The return value parse fails, indicating that the received data format is incorrect or incomplete.

• Usage demo

float voltage[ARM_DOF];  
if (rm_get_current_joint_voltage(robot_handle, voltage) == 0) {  
    printf("Joint voltage: "); 
    for (int i = 0; i < ARM_DOF; i++) {  
        printf("%.2f ", voltage[i]);  
    }
    printf("\n");  
} else {  
    printf("Failed to get joint voltage\n");  
}

Get the current joint angle rm_get_joint_degree()

• Method prototype:

int rm_get_joint_degree(rm_robot_handle * handle,float * joint)

Jump to rm_robot_handle for details of the structure

• Parameter description:

Parameter	Type	Description
handle	Input	Robotic arm handle.
joint	Output	Angle array of the current 7 joints.

• Return value:

Parameter	Type	Description
0	int	Success.
1	int	The controller returns false, indicating that the parameters are sent incorrectly or the robotic arm state is wrong.
-1	int	The data transmission fails, indicating that a problem occurs during the communication.
-2	int	The data reception fails, indicating that a problem occurs during the communication, or the controller has a return timeout.
-3	int	The return value parse fails, indicating that the received data format is incorrect or incomplete.

• Usage demo

float degree[ARM_DOF];  
if (rm_get_joint_degree(robot_handle, degree) == 0) {  
    printf("Joint degree: "); 
    for (int i = 0; i < ARM_DOF; i++) {  
        printf("%.2f ", degree[i]);  
    }
    printf("\n");  
} else {  
    printf("Failed to get joint degree\n");  
}

Get all robotic arm states rm_get_arm_all_state()

• Method prototype:

int rm_get_arm_all_state(rm_robot_handle * handle,rm_arm_all_state_t * state) Get the robotic arm state

Jump to rm_robot_handle和rm_arm_all_state_t for details of the structure

• Parameter description:

Parameter	Type	Description
handle	Input	Robotic arm handle.
state	Output	Structure to save robotic arm information.

• Return value:

Parameter	Type	Description
0	int	Success.
1	int	The controller returns false, indicating that the parameters are sent incorrectly or the robotic arm state is wrong.
-1	int	The data transmission fails, indicating that a problem occurs during the communication.
-2	int	The data reception fails, indicating that a problem occurs during the communication, or the controller has a return timeout.
-3	int	The return value parse fails, indicating that the received data format is incorrect or incomplete.

• Usage demo

rm_arm_all_state_t all_state;  
if (rm_get_arm_all_state(robot_handle, &all_state) == 0) {  
    printf("Joint Currents: ");  
    for (int i = 0; i < ARM_DOF; i++) {  
        printf("%.2f mA ", all_state.joint_current[i]);  
    }  
    printf("\nJoint Temperatures: ");  
    for (int i = 0; i < ARM_DOF; i++) {  
        printf("%.2f C ", all_state.joint_temperature[i]);  
    }  
    // 打印其他信息...  
} else {  
    printf("Failed to get arm all state\n");  
}

Set the initial pose of the robotic arm rm_set_init_pose()

Based on the given joint angles, set them to the initial pose of the robotic arm.

• Method prototype:

int rm_set_init_pose(rm_robot_handle * handle,float * joint)

Jump to rm_robot_handle for details of the structure

• Parameter description:

Parameter	Type	Description
handle	Input	Robotic arm handle.
joint	Input	Joint angle array for the robotic arm's initial pose.

• Return value:

Parameter	Type	Description
0	int	Success.
1	int	The controller returns false, indicating that the parameters are sent incorrectly or the robotic arm state is wrong.
-1	int	The data transmission fails, indicating that a problem occurs during the communication.
-2	int	The data reception fails, indicating that a problem occurs during the communication, or the controller has a return timeout.
-3	int	The return value parse fails, indicating that the received data format is incorrect or incomplete.

• Usage demo

// Define an array of joint angles (6-axis robotic arm)
float joint_angles[6] = {0.1, -0.3, 1.5, 2.7, -1.2, 0.8};  

// Call the function to set the initial pose
int result = rm_set_init_pose(robot_handle, joint_angles);  
if (result == 0) { 
    printf("Initial pose set successfully.\n");  
} else {  
    printf("Failed to set initial pose. Error code: %d\n", result);  
}

Get the initial pose of the robotic arm rm_get_init_pose()

Read the angle of each joint under the set initial pose of the robotic arm.

• Method prototype:

int rm_get_init_pose(rm_robot_handle * handle,float * joint)

Jump to rm_robot_handle for details of the structure

• Parameter description:

Parameter	Type	Description
handle	Input	Robotic arm handle.
joint	Output	Save the joint angle array for the robotic arm's initial pose.

• Return value:

Parameter	Type	Description
0	int	Success.
1	int	The controller returns false, indicating that the parameters are sent incorrectly or the robotic arm state is wrong.
-1	int	The data transmission fails, indicating that a problem occurs during the communication.
-2	int	The data reception fails, indicating that a problem occurs during the communication, or the controller has a return timeout.
-3	int	The return value parse fails, indicating that the received data format is incorrect or incomplete.

• Usage demo

float joint_angles[6];  
// Call the function to get the initial pose
int result = rm_get_init_pose(robot_handle, joint_angles);  
if (result == 0) { 
    printf("Initial pose retrieved successfully.\n");  
    // Print joint angle or position 
    for (int i = 0; i < 6; i++) {  
        printf("Joint %d: %.2f\n", i + 1, joint_angles[i]);  
    }  
} else {  
    printf("Failed to retrieve initial pose.\n");  
}