Command List - alexsleat/GPC_IRB-120 GitHub Wiki
Commands must be sent from the client to the server in the following format:
FunctionCall#arg1#arg2#...#arg8#0
Only the number of arguments for each function are required, the final #0 is required.
MoveJ_fc
Description: MoveJ_fc calls the function to MoveJ (move joints) using the globally set XYZ and rotation matrix (from setXYZ, setROT1, setROT2, setROT3).
Args: None.
Requirements: This command requires that the global XYZ and rotation matrix are set.
Return:
setXYZ
Description: Sets global XYZ on the server side, ready for a move command. It takes a single argument, which contains the X, Y and Z position separated by commas. It is capable of decimal places.
Args: String "X,Y,Z"
Requirements: None.
Return: None.
setROT1
Description: Sets the first line of the global rotation matrix. It takes a single argument, which contains 4 values separated by commas. It is capable of decimal places.
Args: String "X,X,X,X"
Requirements: None.
Return: None.
setROT2
Description: Sets the first line of the global rotation matrix. It takes a single argument, which contains 4 values separated by commas. It is capable of decimal places.
Args: String "X,X,X,X"
Requirements: None.
Return: None.
setROT3
Description: Sets the first line of the global rotation matrix. It takes a single argument, which contains 6 values separated by commas. It is capable of decimal places.
Args: String "X,X,X,X,X,X"
Requirements: None.
Return: None.
CRobT_fc
Description: Calls the CRobT function, which returns the position of the robot arm. XYZ end effector location and rotation matrix.
Args: None.
Requirements: None.
Return: String "XYZ#RotationMatrix"
CJointT_fc
Description: Calls the CJointT function, which returns the axis values for each joint angle on the arm.
Args: None.
Requirements: None.
Return: String "q1,q2,q3,q4"
ReadMotor_fc
Description: Calls the ReadMotor function, which returns the current motor reads of each motor on the arm.
Args: None.
Requirements: None.
Return: String "m1,m2,m3,m4,m5"
VelSet_fc
Description: Calls the VelSet function, which sets the velocity of the robot arm.
Args: ?
Requirements: None.
Return: None.
AccSet_fc
Description: Calls the AccSet function, which sets the acceleration of the robot arm.
Args: ?
Requirements: None.
Return: None.
GripLoad_fc
Description: Calls the GripLoad function, which returns the
Args: None.
Requirements: None.
Return: None.
closeSocket
Description: Tells the server to shut down the socket connection.
Args: None.
Requirements: None.
Return: None.