Mode.hpp File Reference

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Enumerations
enum	flexiv::Mode {   flexiv::UNKNOWN = -1 , flexiv::IDLE , flexiv::RT_JOINT_TORQUE , flexiv::RT_JOINT_POSITION ,   flexiv::NRT_JOINT_POSITION , flexiv::NRT_PLAN_EXECUTION , flexiv::NRT_PRIMITIVE_EXECUTION , flexiv::RT_CARTESIAN_MOTION_FORCE ,   flexiv::NRT_CARTESIAN_MOTION_FORCE }
	Robot control modes. Must put the robot into the correct control mode before sending any corresponding commands. More...

Detailed Description

Copyright

Copyright (C) 2016-2021 Flexiv Ltd. All Rights Reserved.

Definition in file Mode.hpp.

Enumeration Type Documentation

Mode

enum flexiv::Mode

Robot control modes. Must put the robot into the correct control mode before sending any corresponding commands.

Enumerator
UNKNOWN	Mode not set
IDLE	No operation to execute, the robot holds position and waits for new command.
RT_JOINT_TORQUE	Run real-time joint torque control to track continuous commands @1kHz. Note Real-time (RT) mode See also flexiv::Robot::streamJointTorque()
RT_JOINT_POSITION	Run real-time joint position control to track continuous commands @ 1kHz. Note Real-time (RT) mode See also flexiv::Robot::streamJointPosition()
NRT_JOINT_POSITION	Run non-real-time joint position control to track discrete commands (smoothened by internal motion generator). Note Non-real-time (NRT) mode See also flexiv::Robot::sendJointPosition()
NRT_PLAN_EXECUTION	Execute pre-configured robot task plans. Note Non-real-time (NRT) mode See also flexiv::Robot::executePlan()
NRT_PRIMITIVE_EXECUTION	Execute robot primitives (unit skills). Note Non-real-time (NRT) mode See also flexiv::Robot::executePrimitive() Flexiv Primitives documentation
RT_CARTESIAN_MOTION_FORCE	Run real-time Cartesian motion-force control to track continuous commands @ 1kHz. Note Real-time (RT) mode See also flexiv::Robot::streamCartesianMotionForce()
NRT_CARTESIAN_MOTION_FORCE	Run non-real-time Cartesian motion-force control to track discrete commands, smoothened by internal motion generator. Note Non-real-time (NRT) mode See also flexiv::Robot::sendCartesianMotionForce()

Definition at line 16 of file Mode.hpp.