NRC_SetAllServoMapRelation(std::vector<int> servoMap,int syncGroupSum, int syncType[], std::vector<std::vector<int>> syncServoMap)
Set servo mapping relationship
Description:
If the robot axes are corresponding to the servos as follows:
axis 1 is connected to servo 2
axis 2 is connected to servo 3
axis 3 is connected to servo 1
axis 4 is connected to servo 4
axis 5 is connected to servo 6
axis 6 is connected to servo 5
then the value of servoMap is { 2, 3, 1, 4, 6, 5 }
Correspondence between the number of external axes and the servos:
No external axes: syncGroupSum = 0
One single-axis positioner: syncGroupSum = 1, syncType = {1,0,0}, syncServoMap = {{7}}
Two dual-axis positioners and one ground rail: syncGroupSum = 3, syncType = {2,2,3}, syncServoMap = {{7,8},{9,10},{11}}
Type
int=>Set servo mapping relationship
| Return value | Description |
|---|---|
| 0 | The function is called successfully |
| -101 | Invalid input parameter |
| -102 | The target object does not exist. This typically occurs when the system initialization is incomplete, and calling other functions may return this value |
| -103 | The target object is currently in an inoperable state |
Parameter Option
| Parameter | Type | Description |
|---|---|---|
| servoMap | std::vector < int> | Servo mapping relationship, the number is the total number of robot axes set, and the value is the number of the servo connected to each axis |
| syncGroupSum | int | The maximum number of external axis groups, with a maximum of 3, supporting up to two dual-axis positioners and one ground rail |
| syncType[] | int | The type of external axis group, 0: none, 1: single-axis positioner, 2: dual-axis positioner, 3: ground rail |
| syncServoMap | std::vector < int> | The mapping relationship between the external axes and servos |
Sample code
std::vector`<int>` servoMap = { 0, 0, 0, 0, 0, 0 };//Robot mapping
int syncGroupNum = 2;
int syncType[]={2,1,0};
std::vector<std::vector`<int>`> syncServoMap={{0,0},{0,0},{0,0}};
NRC_SetAllServoMapRelation(servoMap,syncGroupNum, syncType, syncServoMap);//Set servo mapping relationship