Python:

Universal Extended Joint Control ExpandControl

It is used for the expansion joint control. The following is a detailed description of the member functions of the general expansion joint control ExpandControl, including the method prototype, parameter description, return value, and usage demo.

Speed loop control of expansion jointsrm_set_expand_speed()

• Method prototype:

rm_set_expand_speed(self, speed: int) -> int:

• Parameter description:

Parameter	Type	Description
speed	int	Speed percentage, -100−100. speed<0: lifting mechanism moves down; speed>0: lifting mechanism moves up; speed=0: lifting mechanism stops moving.

• Return value: State codes executed by functions:

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

from Robotic_Arm.rm_robot_interface import *

# Instantiate the RoboticArm class
arm = RoboticArm(rm_thread_mode_e.RM_TRIPLE_MODE_E)

# Create the robotic arm connection and print the connection ID
handle = arm.rm_create_robot_arm("192.168.1.18", 8080)
print(handle.id)

# Set the expansion joint to move backward at a speed of 50%
print(arm.rm_set_expand_speed(-50))

arm.rm_delete_robot_arm()

Position loop control of expansion jointsrm_set_expand_pos()

• Method prototype:

rm_set_expand_pos(self, speed: int, height: int, block: int) -> int:

• Parameter description:

Parameter	Type	Description
speed	int	Speed percentage, 1−100
height	int	Expansion joint angle, in °
block	int	Blocking settings: multi-thread mode: 0: non-blocking mode, immediately return after sending commands; 1: blocking mode, return after the robotic arm reaches the target position or the planning fails; single-thread mode: 0: non-blocking mode; other values: blocking mode, and timeout period setting, in s.

• Return value: State codes executed by functions:

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

from Robotic_Arm.rm_robot_interface import *

# Instantiate the RoboticArm class
arm = RoboticArm(rm_thread_mode_e.RM_TRIPLE_MODE_E)

# Create the robotic arm connection and print the connection ID
handle = arm.rm_create_robot_arm("192.168.1.18", 8080)
print(handle.id)

print(arm.rm_set_expand_pos(200, 20, 1))

arm.rm_delete_robot_arm()

Get the state of expansion joints rm_get_expand_state()

• Method prototype:

rm_get_expand_state(self) -> tuple[int, dict[str, any]]:

• Return value:

1. int: state codes executed by functions.

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.

2. Dictionary of the expansion joint state

Parameter	Type	Description
rm_expand_state_t	dict[str,any]	Obtained dictionary of the expansion joint state, key: field name of rm_expand_state_t

• Usage demo

from Robotic_Arm.rm_robot_interface import *

# Instantiate the RoboticArm class
arm = RoboticArm(rm_thread_mode_e.RM_TRIPLE_MODE_E)

# Create the robotic arm connection and print the connection ID
handle = arm.rm_create_robot_arm("192.168.1.18", 8080)
print(handle.id)

print(arm.rm_get_expand_state())

arm.rm_delete_robot_arm()