jointcontrolapi.h
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00001 /********************************************************************************************************
00002   Copyright (C), 2016, Aubo Tech. Co., Ltd.
00003   FileName: jointcontrolapi.h
00004   Author:                  
00005   Date:2016-08-17
00006   Description: can driver for aubo robot arm
00007        
00008   Version:         V1.1.0
00009   Function List:  
00010         int   joint_control_init(const char *device);                
00011         int   joint_control_uninit(void);
00012         bool  set_joint_position(int joint_id, float angle);
00013         float read_joint_position(int joint_id);
00014         int   read_joint_brake_status(int joint_id);
00015   History:
00016       <author>    <time>      <version >     <desc>
00017                 2016-08-17     V1.1.0        creat
00018 ********************************************************************************************************/
00019 
00020 #ifndef JOINTCONTROLAPI_H
00021 #define JOINTCONTROLAPI_H
00022 
00023 #define JOINT_BRAKE_RELEASE 0
00024 #define JOINT_BRAKE_CLOSED  1
00025 
00026 
00027 
00028 /**************************************************************************
00029  * Function:joint_control_init
00030  * Description: init CAN bus
00031  * Input: 
00032  *       device: can descriptor,example:/dev/pcan32
00033  * Return: 0-success
00034  * Other:
00035  **************************************************************************/
00036 int   joint_control_init(const char *device);
00037 int   joint_control_uninit(void);
00038 
00039 /**************************************************************************
00040  * Function:set_joint_position
00041  * Description:set joint target angle 
00042  * Input: 
00043  *              joint_id    1~6
00044  *              angle       rad
00045  * Return: 0-success
00046  **************************************************************************/
00047 bool  set_joint_position(int joint_id, float angle);
00048 
00049 /**************************************************************************
00050  * Function:read_joint_position
00051  * Description:read joint current position  
00052  * Input: 
00053  *              joint_id        1~6
00054  * Return: joint angle  
00055  * Other: 
00056  **************************************************************************/
00057 float read_joint_position(int joint_id);
00058 
00059 
00060 /**************************************************************************
00061  * Function:set_joint_max_speed
00062  * Description:set joint max speed
00063  * Input:
00064  *              joint_id        1~6
00065  *              speed       rpm
00066  * Return: 0-success
00067  **************************************************************************/
00068 bool  set_joint_max_speed(int joint_id, float speed);
00069 
00070 
00071 
00072 /**************************************************************************
00073  * Function:set_joint_max_acc
00074  * Description:set joint max acc
00075  * Input:
00076  *              joint_id        1~6
00077  *              acc         rpm/s
00078  * Return: 0-success
00079  **************************************************************************/
00080 bool  set_joint_max_acc(int joint_id, float acc);
00081 
00082 
00083 
00084 /**************************************************************************
00085  * Function:read_joint_brake_status
00086  * Description:read joint break status
00087  * Input: 
00088  *              joint_id        1~6
00089  * Return: 0-release , 1  break
00090  * Other: 
00091  **************************************************************************/
00092 int   read_joint_brake_status(int joint_id);
00093 
00094 
00095 #endif // JOINTCONTROLAPI_H


aubo_control
Author(s): liuxin
autogenerated on Sat Jun 8 2019 19:05:59