Data Sheet

IRONBOY USER MANUAL Ver.1.03_Eng
52
(4) API and Library
① Library File Composition
Library Name
API Name
Description
Instruction
MotionDriver
ExecuteRobotMotion Execute Robot
Motion
ActuatorDriver
writeActuatorRawPosition Actuator actual
position value move
ActuatorDriver
writeActuatorPosition Actuator Goal
position value move
MotionDriver
WriteMonoStep
Mono Step move
ParameterDriver
RealtimeFunction Robot real-time
function setting
MotionDriver
MotionCaptureEnable Robot motion capture
setting
ParameterDriver
StoreBaseParameter Save Robot basic
setting
MotionDriver
StoreActivityProperty Save robot activity
property
ParameterDriver
FeedBackRobotData Request Robot data
Feedback
LedDriver
ChestFullColor
LED color output
PiezoDriver
playSound
Piezo sound output
Feedback
ParameterDriver
FeedBackRobotData Command reception
check
ParameterDriver
FeedBackRobotData Robot current status
check
ParameterDriver
FeedBackRobotData Standard position
value of robot servos
ParameterDriver
FeedBackRobotData
Robot Basic Setting
ParameterDriver
FeedBackRobotData
Robot Basic Posture
MotionDriver
FeedBackRobotData Robot Current
Posture
MotionDriver
FeedBackRobotData Robot Motion
execution feedback
MotionDriver
FeedBackActivityProperty Robot operating
property
MotionDriver
FeedBackMonoStep
Robot Motion Step