C, C++:

Communication Configuration communicationConfig

The robotic arm controller communicates with the user through the network port, WiFi, RS232-USB port, and RS485 port. This interface is intended to set the communication mode.

Set the WiFi AP mode rm_set_wifi_ap()

• Method prototype:

int rm_set_wifi_ap(rm_robot_handle * handle,const char * wifi_name,const char * password)

Jump to rm_robot_handle for details of the structure

• Parameter description:

Parameter	Type	Description
handle	Input	Robotic arm handle.
wifi_name	Input	Network name.
password	Input	Network password.

• Return value:

0 represents success. For other error codes, please refer to the API2 Error Codes.

WARNING

After the setting is successful, the buzzer rings. The WiFi AP mode is enabled after the manual restart of the controller.

• Usage demo

//Set the WiFi AP as follows: WiFi name: robot; access password: 12345678
char *wifi_name = (char*)"robot";
char* password = (char*)"12345678";
ret = rm_set_wifi_ap(robot_handle,wifi_name,password);

Set the WiFi STA mode rm_set_wifi_sta()

• Method prototype:

int rm_set_wifi_sta(rm_robot_handle * handle,const char * router_name,const char * password)

Jump to rm_robot_handle for details of the structure

• Parameter description:

Parameter	Type	Description
handle	Input	Robotic arm handle.
router_name	Input	Network name.
password	Input	Network password.

• Return value:

0 represents success. For other error codes, please refer to the API2 Error Codes.

WARNING

After the setting is successful, the buzzer rings. The WiFi STA mode is enabled after the manual restart of the controller.

• Usage demo

//Set the WiFi STA as follows: target router name: robot; router password: 12345678
char *router_name = (char*)"robot";
char* password = (char*)"12345678";
ret = rm_set_wifi_sta(robot_handle,router_name,password);

Set the baud rate of the controller RS485 rm_set_RS485()

• Method prototype:

int rm_set_RS485(rm_robot_handle * handle,int baudrate)

Jump to rm_robot_handle for details of the structure

• Parameter description:

Parameter	Type	Description
handle	Input	Robotic arm handle.
baudrate	Input	Baud rate: 9600, 19200, 38400, 115200, and 460800. If the user sets other values, the controller uses 460800 by default.

• Return value:

0 represents success. For other error codes, please refer to the API2 Error Codes.

WARNING

After this command is sent, the controller will record the current baud rate, and the baud rate will still be used for external communication after power failure and restart.

• Usage demo

//Set the baud rate of the RS485 to 460800
int baudrate = 460800;
ret = rm_set_RS485(robot_handle,baudrate);

Get the wired network informationrm_get_wired_net()

Get the wired network information. However, if the wired network is not connected, invalid data will be returned.

• Method prototype:

int rm_get_wired_net(rm_robot_handle * handle,char * ip,char * mask,char * mac)

Jump to rm_robot_handle for details of the structure

• Parameter description:

Parameter	Type	Description
handle	Input	Robotic arm handle.
ip	Input	IP address.
mask	Input	Subnet mask.
mac	Input	MAC address.

• Return value:

0 represents success. For other error codes, please refer to the API2 Error Codes.

• Usage demo

//Query the wired network information
char ip[128];
char mask[128];
char mac[128];
ret = rm_get_wired_net(robot_handle,ip,mask,mac);

Get the WiFi network information rm_get_wifi_net()

Get the WiFi network information. However, if the WiFi network is not connected, invalid data will be returned.

• Method prototype:

int rm_get_wifi_net(rm_robot_handle * handle,rm_wifi_net_t * wifi_net)

Jump to rm_robot_handle and rm_wifi_net_t for details of the structure

• Parameter description:

Parameter	Type	Description
handle	Input	Robotic arm handle.
wifi_net	Input	Structure for WiFi network information.

• Return value:

0 represents success. For other error codes, please refer to the API2 Error Codes.

WARNING

The channel value in the structure is only available in AP mode, which is the physical channel number that identifies a WiFi hotspot.

• Usage demo

//Query the WiFi network information
rm_wifi_net_t wifi;
ret = rm_get_wifi_net(handle, &wifi);

Restore the network factory default rm_set_net_default()

• Method prototype:

int rm_set_net_default(rm_robot_handle * handle)

Jump to rm_robot_handle for details of the structure

• Parameter description:

Parameter	Type	Description
handle	Input	Robotic arm handle.

• Return value:

0 represents success. For other error codes, please refer to the API2 Error Codes.

• Usage demo

//Restore the network factory default
ret = rm_set_net_default(robot_handle);

Set the WiFi OFF rm_set_wifi_close()

Set the WiFi OFF, and it will be enabled after the restart.

• Method prototype:

int rm_set_wifi_close(rm_robot_handle * handle)

Jump to rm_robot_handle for details of the structure

• Parameter description:

Parameter	Type	Description
handle	Input	Robotic arm handle.

• Return value:

0 represents success. For other error codes, please refer to the API2 Error Codes.

• Usage demo

//Restore the network factory default
ret = rm_set_net_default(robot_handle);