Data Sheet

77
(6) void SetMaxAngleInValue(int Max_AngleValue);
Parameter
int Max_AngleValue
Return
void
Description
Set actuator max value
Utilized in 6.3 MotionEngine - iii) RobotInfo’s rad2value,
value2rad functions
(7) void SetMinAngleLimitInRad(double MinAngleLimitInRad);
Parameter
double MinAngleLimitInRad
Return
void
Description
Set joint min angle(rad)
Also sets the value
(8) void SetMaxAngleLimitInRad(double MaxAngleLimitInRad);
Parameter
double MaxAngleLimitInRad
Return
void
Description
Set joint max angle(rad)
Also sets the value
(9) unsigned int GetID(void);
Parameter
void
Return
unsigned int (ID)
Description
Returns joint ID (number)
(10) void SetJointDataDH(double LinkLength, double LinkTwist,
double JointOffset, double JointAngle);
Parameter
double LinkLength, double LinkTwist
double JointOffset, double JointAngle
Return
void
Description
Set manipulator’s joint DH parameters in DH Configuration