umbratek ADRA DD Series, User Manual

Page: 38 / 52

EN Ver. 0.2.0
38 / 52 © 2022 Umbratek All Rights Reserved.
broadcast commands. All actuators that receive broadcast commands do not reply, but will record the
number of broadcast write commands that has been received.
* Example of setting the target torque of actuators 1 through 6.
AdraApiSerial *adra = new AdraApiSerial( "/dev/ttyUSB0", 921600);
adra->into_motion_mode_pos(1);
adra->into_motion_enable(id);
float tau[6] = {0.3, 0.3, 0.3, 0.2, 0.2, 0.2};
adra->set_ctau_target(1,6, tau);
Broadcast Mode Sets Multiple Actuator Target Position and Feedforward Torque
* Register address is 0x62, API function set_cpostau_target(uint8_t sid, uint8_t eid, float* pos, float*
tau)
* Broadcast mode (a packet) sets the target position and feedforward torque of multiple actuators
(sequential ids). All actuators that receive broadcast command do not reply, but record the number of
broadcast write commands that has been received.
* Example of setting the target position and feedforward torque of actuators 1 through 6.
AdraApiSerial *adra = new AdraApiSerial( "/dev/ttyUSB0", 921600);
adra->into_motion_mode_pos(1);
adra->into_motion_enable(id);
float pos[6] = {1, 2, 3, 6, 7, 2};
float tau[6] = {0.3, 0.3, 0.3, 0.2, 0.2, 0.2};
adra->set_cpostau_target(1,6, pos, tau);
Polling Mode Gets Single Actuator Position and Torque
* Register address is 0x68, API function get_spostau_current(int id, int* num, float* pos, float* tau)
6.
* Obtain the current position and torque and the number of received broadcast write commands at
the same time, and the recorded number of broadcast write commands will be cleared.
* Example, get ID 1 current position, current torque, and number of broadcast setup instructions.
AdraApiSerial *adra = new AdraApiSerial( "/dev/ttyUSB0", 921600);
float pos =0 , tau = 0;
Int num = 0;
adra->get_spostau_current(1, &num, &pos, &tau);
Broadcast Mode Gets Multiple Actuators Current Position and Torque
* Register address is 0x69, API function get_cpostau_current(uint8_t sid, uint8_t eid, int* num, float*