Data Sheet

76
ⅱ) JointData.h
(1) void SetJointID(unsigned int ID)
Parameter
unsigned int ID
Return
void
Description
Assign Joint ID
(2) void SetJointAngle(double JointAngle);
Parameter
double JointAngle
Return
void
Description
Set Joint Angle
(3) void SetMinAngleInRad(double MinAngleInRad);
Parameter
double MinAngleInRad
Return
void
Description
Set actuator min angle(rad)
Value utilized in 6.3 MotionEngine - iii) RobotInfo’s
rad2value function
(4) void SetMaxAngleInRad(double MaxAngleInRad);
Parameter
double MaxAngleInRad
Return
Void
Description
Set actuator max angle(rad)
Value utilized in 6.3 MotionEngine - iii) RobotInfo’s
rad2value function
(5) void SetMinAngleInValue(int Min_AngleValue);
Parameter
int Min_AngleValue
Return
void
Description
Set actuator min value
utilized in 6.3 MotionEngine - iii) RobotInfo’s rad2value,
value2rad functions