6002-set_fense_mode.cc

/*
# Software License Agreement (MIT License)
#
# Copyright (c) 2019, 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);
    sleep_milliseconds(500);
    if (arm->error_code != 0) arm->clean_error();
    if (arm->warn_code != 0) arm->clean_warn();
    arm->motion_enable(true);
    arm->set_mode(0);
    arm->set_state(0);
    sleep_milliseconds(500);

    printf("=========================================\n");
    int ret;

    int boundary[6] = {500, -500, 500, -500, 600, -400};
    ret = arm->set_reduced_tcp_boundary(boundary);
    printf("set_reduced_tcp_boundary, ret=%d\n", ret);
    ret = arm->set_fense_mode(true);
    printf("set_fense_mode, ret=%d\n", ret);

    // int reduced_is_on, fense_is_on, rebound_is_on;
    // int xyz_limit[6];
    // float tcp_speed, joint_speed;
    // float jrange[14];
    // ret = arm->get_reduced_states(&reduced_is_on, xyz_limit, &tcp_speed, &joint_speed, jrange, &fense_is_on, &rebound_is_on);
    // printf("get_reduced_states, ret=%d\n", ret);
    // printf("* fense_is_on: %d\n", fense_is_on);
    // printf("* boundary:\n");
    // printf("     x=[%d, %d]\n", xyz_limit[0], xyz_limit[1]);
    // printf("     y=[%d, %d]\n", xyz_limit[2], xyz_limit[3]);
    // printf("     z=[%d, %d]\n", xyz_limit[4], xyz_limit[5]);
    // printf("* rebound_is_on: %d\n", rebound_is_on);

    return 0;
}