Enum ControlMode

Enum Documentation

enum class urcl::comm::ControlMode : int32_t

Control modes as interpreted from the script runnning on the robot.

Values:

enumerator MODE_STOPPED

When this is set, the program is expected to stop and exit.

enumerator MODE_UNINITIALIZED

Startup default until another mode is sent to the script.

enumerator MODE_IDLE

Set when no controller is currently active controlling the robot.

enumerator MODE_SERVOJ

Set when servoj control is active.

enumerator MODE_SPEEDJ

Set when speedj control is active.

enumerator MODE_FORWARD

Set when trajectory forwarding is active.

enumerator MODE_SPEEDL

Set when cartesian velocity control is active.

enumerator MODE_POSE

Set when cartesian pose control is active.

enumerator MODE_FREEDRIVE

Set when freedrive mode is active.

enumerator MODE_TOOL_IN_CONTACT

Used only internally in the script, when robot is in tool contact, clear by endToolContact()

enumerator END

This is not an actual control mode, but used internally to get the number of control modes.