Low-Level Motion Service Interfaces

Overview

The low-level motion service interfaces are primarily used for motor control of the DaystarBot.

Function	C++	ROS
Clear driver errors	✔
Recalibrate all drivers and save	✔
Zero joint torque sensors	✔

Clear Driver Errors

C++ Interface

Function:rcClientInterfaceClearDriverError

/**
 * @brief Clear driver errors.
 *
 * This function is used to clear the driver error of the specified joint(s).
 *
 * @param mask Bitmask specifying which joints to clear.
 * @return bool Returns `true` on success, `false` on failure.
 */
bool rcClientInterfaceClearDriverError(unsigned int mask);

Usage Example:

unsigned int joints_mask = 0x0F; // Example bitmask selecting joints
bool success = rcClientInterfaceClearDriverError(joints_mask);
if (success) {
    std::cout << "Driver Error Cleared Successfully." << std::endl;
} else {
    std::cout << "Failed to Clear Driver Error." << std::endl;
}

WARNING

Notes:

• Ensure that the provided joint bitmask is valid.

Recalibrate All Drivers and Save

C++ Interface

Function:rcClientInterfaceReCalibrateAllDriverAndSave

/**
 * @brief Recalibrate all drivers and save the calibration data.
 *
 * This function performs a recalibration on all drivers and saves the results.
 *
 * @param is_rough Indicates whether to perform rough calibration (`true`) or fine calibration (`false`).
 * @return bool Returns `true` on success, `false` on failure.
 */
bool rcClientInterfaceReCalibrateAllDriverAndSave(bool is_rough);

Usage Example:

bool rough_calibration = true; // Example: perform rough calibration
bool success = rcClientInterfaceReCalibrateAllDriverAndSave(rough_calibration);
if (success) {
    std::cout << "Recalibrated All Drivers and Saved Successfully." << std::endl;
} else {
    std::cout << "Failed to Recalibrate All Drivers and Save." << std::endl;
}

WARNING

Notes:

• Ensure the correct calibration mode is selected (rough or fine).

Zero Joint Torque Sensors

C++ Interface

Function:rcClientInterfaceZeroTorqueSensor

/**
 * @brief Zero the torque sensors on robot joints.
 *
 * This function zeroes the torque sensors of the robot's joints.
 *
 * @param from Specifies the operation mode (navigation or joystick).
 * @return bool Returns `true` on success, `false` on failure.
 */
bool rcClientInterfaceZeroTorqueSensor(robot_control::common::NAV_OR_JOY_MODE from);

Usage Example:

robot_control::common::NAV_OR_JOY_MODE mode = robot_control::common::NAV_OR_JOY_MODE::joy_control;
bool success = rcClientInterfaceZeroTorqueSensor(mode);
if (success) {
    std::cout << "Torque Sensor Zeroing Successful." << std::endl;
} else {
    std::cout << "Failed to Zero Torque Sensor." << std::endl;
}