UFactory uArm Swift, Быстрый стартовый руководство

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19
false, 1 true)
#
n
M2220 X
100
Y
100
Z
100
\n
Convert coordinates to angle of
joints
$ n OK B 50 L 50 R 50 \n (Bjoint 0,Ljoint
1,R joints 2, 0~180)
#
n
M2221 B
0
L
50
R
50
\n
Convert angle of joints to
coordinates
$
n
OK X
100
Y
100
Z
100
\n
#
n
M2222 X
100
Y
100
Z
100
P
0
\n
Check if it can
reach,P1polar,P0Cartesian
coordinates
$
n
OK V
1
\n (1 reachable,0
unreachable)
#
n
M2231 V
1
\n pump V1working, V0stop $
n
OK \n or $
n
E
x
\n (refer to Err output)
#
n
M2232 V
1
\n gripper V1close, V0open $
n
OK \n or $
n
E
x
\n (refer to Err output)
#
n
M2234 V
1
\n
Enable/disable Bluetooth (1:enable,
0:disable)
$
n
OK\n
# n M2240 N 1 V 1 \n Set the digital IO output $ n OK \n or $ n E x \n (refer to Err output)
M2245 V btname \n
Set the name of Bluetooth, 11
letters limited (Do not add # n in
this command)
OK \n
Querying Command
(parameters are in underline)
#
n
P2200\n
Get
the current angle of joints $
n
OK B
50
L
50
R
50
\n
# n
P2201\n
Get the device name
$
n
OK V 3.2 \n
# n
P2202\n
Get the hardware version
$
n
OK V 1.2 \n
#
n
P2203\n Get the software version $
n
OK V 3.2 \n
# n
P2204\n
Get the API version
$
n
OK V 3.2 \n
# n
P2205\n
Get the UID
$
n
OK V 0123456789AB \n
#
n
P2206 N 0 \n Get the angle of number 0 joint (0~2) $n OK V 80 \n
#
n
P2220\n
Get current coordinates
$
n
OK X 100 Y 100 Z 100 \n
# n
P2221\n
Get current polar coordinates
$
n
OK S 100 R 90 H 80 \n
#
n
P2231\n
Get the status of pump
$
n
OK V 1 \n (0 stop, 1 working, 2 grabbing
things)
#
n
P2232\n Get the status of gripper
$
n
OK V 1 \n (0 stop, 1 working, 2 grabbing
things)
# n
P2233\n
Get the status of limited switch
$
n
OK V 1 (1 triggered, 0untriggered)
#
n
P2234\n Get the status of power connection $
n
OK V 1 (1 connected, 0 unconnected)
#
n
P2240 N 1 \n
Get the status of digital IO
$
n
OK V 1 \n (1 High, 0 Low)