Low Level Motion Service Interface

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Introduction

Low Level Motion Service Interface: Mainly used for motor control of Daystar Robot.

Function	C++	ROS
clear drive error	✔
Recalibrate all drives and save	✔
On-Joint Torque Sensor Clearing	✔

Clear Drive Error

C++ Interface

rcClientInterfaceClearDriverError Introduction

/**
* @brief Clearing driver errors.
*
* This function is used to clear driver errors for the specified joint.
*
* @param mask Specifies the joint selection mask.
* @return bool Returns `true` for successful clearing, `false` for failed clearing.
*/
bool rcClientInterfaceClearDriverError(unsigned int mask);

use Case

unsigned int joints_mask = 0x0F; // 示例值，表示选择的关节掩码
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;
}

precautions

• make sure the incoming joint selection mask is valid.

Recalibrate All Drives and Save

C++ Interface

rcClientInterfaceReCalibrateAllDriverAndSave Introduction

/**
* @brief Recalibrate all drives and save.
*
* This function recalibrates all drives and saves the calibration results.
*
* @param is_rough Specifies whether to perform a rough calibration (true for rough calibration, false for fine calibration).
* @return bool Returns `true` for a successful calibration, `false` for a failed calibration.
*/
bool rcClientInterfaceReCalibrateAllDriverAndSave(bool is_rough);

use Case

bool rough_calibration = true; // 示例值，表示粗略校准
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;
}

Precautions

• make sure that the calibration mode (coarse or fine) is selected correctly.

Clear The Joint Torque Sensor

C++ Interface

rcClientInterfaceZeroTorqueSensor Introduction

/**
* @brief Interface for zeroing the robot's on-joint torque sensors.
* @brief Interface to zero out the robot's torque sensors on its joints.
* This function is used to zero the robot's joint moment sensors.
*
* @param from Specifies the mode of operation (navigation or joystick).
* @return bool Returns `true` for a successful operation, `false` for a failed operation.
*/
bool rcClientInterfaceZeroTorqueSensor(robot_control::common::NAV_OR_JOY_MODE from);

Use Case

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;
}