QB Robotics qbmove Advanced Kit User Manual page 74

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commActivate
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commGetActivate
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commSetPosStiff
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commGetInputs
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Description: This function is used to retrieve the inputs given to the device.
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Arguments
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28 aprile 2021
Description: This function is used to close communication between the
computer and the device. Is necessary to use it before a program is
terminated.
Arguments
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comm_settings
about communication settings
Description: This function activates the motor drives (or the motor drive if
only one present) of the device. It is necessary to activate the motor drives
before using the device, otherwise the device will not work.
Arguments
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comm_settings
about communication settings
• id: The device's ID number
int
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char activate: The activation value. 0x03 activates the board, 0x00
deactivates it
Description: This function is used to retrieve the activation status of the
board. It is mostly used after the commActivate function to see if the board
was correctly activated or deactivated. It is needed an inactive program time
if used right after the commActivate.
Arguments
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comm_settings
about communication settings
• id: The device's ID number
int
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char *activate: Device activation status
Description: This function is used to give the device reference inputs to
motors. Is used only with a qbmove device. The two inputs are the output
shaft position (in degrees) and the stiffness preset of the shaft. The stiffness
preset goes from 0 to 30 degrees.
Arguments
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comm_settings
about communication settings
• id: The device's ID number
int
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short int inputs[]: The array used to store the inputs to be sent to
the devices. Accepted values are [-15000, 15000] concerning the
position and [0,32768] concerning the stiffness.
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comm_settings
about communication settings
• id: The device's ID number
int
*comm_settings_t: Structure containing info
*comm_settings_t: Structure containing info
*comm_settings_t: Structure containing info
*comm_settings_t: Structure containing info
*comm_settings_t: Structure containing info