NRC_SetServoMapRelation(std::vector<int> servoMap,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: syncServoMap = {0 ,0 ,0}
One external axis: syncServoMap = {7 ,0 ,0}
Two external axes: syncServoMap = {7 ,8 ,0}
In the future, this function will be replaced by NRC_SetAllServoMapRelation
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 |
| syncServoMap | std::vector < int> | External axis servo mapping relationship, the number is 3, the value is the number of servo connected to each axis, if there are less than 3 external axes, the corresponding value is 0 |
Sample code
std::vector`<int>` servoMap = { 0, 0, 0, 0, 0, 0 };//Robot mapping
std::vector<std::vector`<int>`> syncServoMap={7 ,8 ,0};
NRC_SetServoMapRelation(servoMap,syncServoMap);//Set servo mapping relationship