8010-get_ft_sensor_config.cc

/**
 * Software License Agreement (MIT License)
 * 
 * Copyright (c) 2022, 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);

  // arm->motion_enable(true);
  // arm->set_mode(0);
  // arm->set_state(0);
  // sleep_milliseconds(1000);

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

  int ret;
  int ft_app_status = 0, ft_is_started = 0, ft_type = 0, ft_id = 0, ft_freq = 0; 
  float ft_mass = 0, ft_dir_bias = 0, ft_centroid[3] = {0}, ft_zero[6] = {0};
  int imp_coord = 0, imp_c_axis[6] = {0};
  float M[6] = {0}, K[6] = {0}, B[6] = {0};
  int f_coord = 0, f_c_axis[6] = {0};
  float f_ref[6] = {0}, f_limits[6] = {0}, kp[6] = {0}, ki[6] = {0}, kd[6] = {0}, xe_limit[6] = {0};
  ret = arm->get_ft_sensor_config(&ft_app_status, &ft_is_started, &ft_type, &ft_id, &ft_freq,
    &ft_mass, &ft_dir_bias, ft_centroid, ft_zero, &imp_coord, imp_c_axis, M, K, B,
    &f_coord, f_c_axis, f_ref, f_limits, kp, ki, kd, xe_limit);

  printf("ft_app_status=%d, ft_is_started=%d, ft_type=%d, ft_id=%d, ft_freq=%d\n", ft_app_status, ft_is_started, ft_type, ft_id, ft_freq);
  printf("ft_mass=%f, ft_dir_bias=%f\n", ft_mass, ft_dir_bias);
  print_nvect("ft_centroid: ", ft_centroid, 3);
  print_nvect("ft_zero: ", ft_zero, 6);
  printf("imp_coord=%d\n", imp_coord);
  print_nvect("imp_c_axis: ", imp_c_axis, 6);
  print_nvect("M: ", M, 6);
  print_nvect("K: ", K, 6);
  print_nvect("B: ", B, 6);
  printf("f_coord=%d\n", f_coord);
  print_nvect("f_c_axis: ", f_c_axis, 6);
  print_nvect("f_ref: ", f_ref, 6);
  print_nvect("f_limits: ", f_limits, 6);
  print_nvect("kp: ", kp, 6);
  print_nvect("ki: ", ki, 6);
  print_nvect("kd: ", kd, 6);
  print_nvect("xe_limit: ", xe_limit, 6);

  return 0;
}