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cpp_servoing_modes.md

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Servoing Mode

Table of Contents

Overview

There are multiple servoing modes on the robot. A servoing mode allows commands to be transmitted to the robot devices during operation. Depending on the servoing mode chosen, the details for API control will be different.

Setting servoing mode

The RPC to set the servoing mode is in the Base service

// API initialisation
k_api::Base::BaseClient* base = new k_api::Base::BaseClient(pRouter);

// Sets the base in low level servoing
auto servoingMode = k_api::Base::ServoingModeInformation();
servoingMode.set_servoing_mode(k_api::Base::ServoingMode::LOW_LEVEL_SERVOING); //Enum type
base->SetServoingMode(servoingMode);

High level servoing mode

High-level servoing is the default servoing mode for the robot on bootup.

In high-level servoing, users connect to the base through the API, sending command inputs. The base routes commands to the actuators, and manages a 1 kHz control loop.

High-level servoing is the recommended servoing mode for non-advanced users, because you have access to Cartesian movement and don't have to manage a 1kHz control loop to send commands to the robot.

Low level servoing mode

In low-level servoing, the API client connects to the base and sends commands through the base for routing. Take note that this mode does not support Cartesian commands.

The base ensures device routing and internal communications with the actuators at 1 kHz, but the high-level functionalities for the base control loop (Cartesian movement, robot kinematics, trajectory management, etc.) are no longer available.

Low-level servoing allows clients to control each actuator individually by sending small position increments at a 1 kHz frequency (bypassing the kinematic control library).

You can have a look at the actuator low-level cyclic example for a code example.