0002-get_property.cc

/**
 * Software License Agreement (MIT License)
 * 
 * Copyright (c) 2022, UFACTORY, Inc.
 * 
 * All rights reserved.
 * 
 * @author Vinman <vinman.wen@ufactory.cc> <vinman.cub@gmail.com>
 */

#include "xarm/wrapper/xarm_api.h"

int main(int argc, char **argv) {
  if (argc < 2) {
    printf("Please enter IP address\n");
    return 0;
  }
  std::string port(argv[1]);

  XArmAPI *arm = new XArmAPI(port);
  arm->motion_enable(true);
  arm->set_mode(0);
  arm->set_state(0);
  sleep_milliseconds(1000);

  printf("=========================================\n");
  printf("default_is_radian: %d\n", arm->default_is_radian);
  printf("version: %s\n", arm->version);
  printf("state: %d\n", arm->state);
  printf("mode: %d\n", arm->mode);
  printf("cmd_num: %d\n", arm->cmd_num);
  printf("error_code: %d\n", arm->error_code);
  printf("warn_code: %d\n", arm->warn_code);
  printf("collision_sensitivity: %d\n", arm->collision_sensitivity);
  printf("teach_sensitivity: %d\n", arm->teach_sensitivity);
  print_nvect("world_offset: ", arm->world_offset, 6);
  print_nvect("gravity_direction: ", arm->gravity_direction, 3);

  printf("==========TCP==============\n");
  print_nvect("* position: ", arm->position, 6);
  printf("* tcp_jerk: %f\n", arm->tcp_jerk);
  print_nvect("* tcp_load: ", arm->tcp_load, 4);
  print_nvect("* tcp_offset: ", arm->tcp_offset, 6);
  print_nvect("* tcp_speed_limit:", arm->tcp_speed_limit, 2);
  print_nvect("* tcp_acc_limit:", arm->tcp_acc_limit, 2);

  printf("============JOINT==============\n");
  print_nvect("* angles: ", arm->angles, 7);
  printf("* joint_jerk: %f\n", arm->joint_jerk);
  print_nvect("* joint_speed_limit:", arm->joint_speed_limit, 2);
  print_nvect("* joint_acc_limit:", arm->joint_acc_limit, 2);
  print_nvect("* joints_torque:", arm->joints_torque, 7);
  return 0;
}