C, C++:
Communication ConfigurationcommunicationConfig 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:
| Parameter | Type | Description |
|---|---|---|
| 0 | int | Success. |
| -1 | int | The data transmission fails, indicating that a problem occurs during the communication. |
Note: 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:
| Parameter | Type | Description |
|---|---|---|
| 0 | int | Success. |
| -1 | int | The data transmission fails, indicating that a problem occurs during the communication. |
Note: 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:
| Parameter | Type | Description |
|---|---|---|
| 0 | int | Success. |
| -1 | int | The data transmission fails, indicating that a problem occurs during the communication. |
Note: 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:
| 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
//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:
| 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. |
Note: 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:
| 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
//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:
| 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
//Restore the network factory default
ret = rm_set_net_default(robot_handle);