Data Sheet

IRONBOY USER MANUAL Ver.1.03_Eng
53
② API Description
ExecuteRobotMotion (uint8_t MotionNum, protocol_feedback_execute_robot_motion_t *recv_buf)
Function : Robot Motion Execution
Parameter
- MotionNum : Motion number
※ Robot Motion number Definition
Motion
number
Definition Description Torque Status
0 ~ 99 MOTION_USER_00 ~
_99
User Motion 0 ~ 99 (Saved in external memory)
ON
100 ~
199
MOTION_LIBRARY_00
~ _99
Factory Library Motion 0 ~ 99 (Saved in internal
memory)
200 MOTION_TORQUE_OF
F
All Actuator torque OFF
OFF
201 MOTION_USER_TEST Temporary User's test motion (Save in RAM area) ON
255 MOTION_STOP Motion Stop (Stop for already executed motion) No change
- Recv_buf : Motion execution feedback data storage position
writeActuatorRawPosition(uint8_t _id,int16_t _position)
Function : Move to Servo Actual Position
Parameter
- id : The ID of servo which will be moved.
- _position : Actual position value which will be moved. Setting between 0~1023.
writeActuatorPosition(uint8_t _id,int16_t _position,bool move, bool torque)
Function : Move to Servo Goal Position
Parameter
- id : The ID of servo which will be moved.
- _position : Goal position value. Setting between -512~511.
- move : when it is ‘0’, Save position value only. When it is "1", execute motion too.
- torque : when it is ‘0’, torque will be off. when it is ‘1’, torque will be ON.
WriteMonoStep(uint8_t step_move_time, uint8_t step_stop_time, uint8_t step_led, bool step_led_enable, uint8_t
step_piezo, bool step_piezo_enable, int16_t step_reference_pitch, int16_t step_reference_roll, int16_t *position)
Function : Mono Step movement
Parameter
- step_move_time : Step Move time (Range: 1 ~ 255, Unit: 0.01 sec)
- step_stop_time : Step Stop time (Range: 1 ~ 255, Unit: 0.01 sec)
- step_led : Step LED color number (Range: 0 ~ 63), Refer to the annex "LED Control Color Chart"
- step_led_enable : LED color enable Bit, when it is ‘1’, color will be ON.
- step_piezo : Step Piezo sound number (Range: 0 ~ 63), Refer to the annex "Piezo Sound Number
Chart".
- step_piezo_enable : Piezo sound enable bit, when it is ‘1’, sound will be made.
- step_reference_pitch : Step Pitch reference angle (Range: -900 ~ 900, Unit: 0.1 °)
- step_reference_roll : Step Roll reference angle (Range: -1800 ~ 1799, Unit: 0.1 °)
- position : Address of array saving Actuator goal position value (Range: -511 ~ 511)