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Manpage.joint.md

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libypspur - joint control

Get joint status

Name

YP_get_joint_ang, YP_get_joint_vel, YP_get_joint_torque

Synopsis

double YP_get_joint_ang(int id, double *a);
double YP_get_joint_vel(int id, double *v);
double YP_get_joint_torque(int id, double *t);

Description

Get current joint state.

  • id: joint (motor) id
  • *a: pointer to store angle of the joint [rad]
  • *v: pointer to store angular velocity of the joint [rad/s]
  • *t: pointer to store torque of the joint [Nm]

Return value

On success, timestamp (unix time) of the data is returned. On error, -1 is returned.

Set joint control parameter

Name

YP_set_joint_vel, YP_set_joint_accel

Synopsis

int YP_set_joint_vel(int id, double v);
int YP_set_joint_accel(int id, double a);

Description

Set maximum angular velocity and acceleration of the joint.

  • id: joint (motor) id
  • a: angular acceleration of the joint [rad/ss]
  • v: angular velocity of the joint [rad/s]

Return value

On success, 1 is returned. On error, -1 is returned.

Joint control

Name

YP_joint_ang, YP_joint_vel, YP_joint_torque, YP_joint_ang_vel

Synopsis

int YP_joint_ang(int id, double a);
int YP_joint_vel(int id, double v);
int YP_joint_torque(int id, double t);
int YP_joint_ang_vel(int id, double a, double v);

Description

Control joint angle, velocity, and torque. YP_joint_ang_vel controls both angle and velocity simultaneously to make velocity desired at the desired angle.

  • id: joint (motor) id
  • a: angular position of the joint [rad]
  • v: angular velocity of the joint [rad/s]
  • t: torque of the joint [Nm]

Return value

On success, 1 is returned. On error, -1 is returned.