Data Sheet

45
Position Value is set again with Rad2Value, the resulting Arm_Set_JointPosition
moves the manipulator.
If successful , the manipulator’s communications Arm_Set_JointPosition
returns a value of 1.
gvdRealDynamixelAngleRad =
gpRobotisArm->Value2Rad(gviRealDynamixelAngleUnit);
gvdRealCalculationAngleRad= gvdRealDynamixelAngleRad
- gvdAngleGapCalcandDynamixelRad;
After motion is complete it print’s the joint’s actual pose(rad) and calculated
pose(rad).
gpArmKinematics->Forward(gvdRealCalculationAngleRad, &gRealPose);
gpArmKinematics->Forward(gvdGoalCalculationAngleRad, &gGoalPose);
Factor’s current angle and goal angle to Forward Kinematics. The end
effectot’s actual and goal pose (gRealPose, gGoalPose) can be assigned.
gpArmComm->Arm_Set_JointAcceleration(DEFAULT_JOINT_ACCELERATION);
gviDynamixelAcceleration.fill(DEFAULT_JOINT_ACCELERATION);
Sets every joint’s acceleration value individually.
DEFAULT_JOINT_ACCELERATION has 4 values
gpArmComm->Arm_Set_JointVelocity(DEFAULT_JOINT_VELOCITY);
gviDynamixelVelocity.fill(DEFAULT_JOINT_VELOCITY);
Sets every joint’s velocity value individually.
DEFAULT_JOINT_VELOCITY 9000 values.
void UpDownGoalValue(int dir);
void UpDownJointParameter(int dir);
void UpDownValue(int dir);
UpdownGoalValue allows change in goal pose, UpDownJointParameter
allows changes to joint’s parameters (Velocity, Acceleration, Position P, I, D
Gain, Velocity P, I Gain). UpDownValue combines both functions.