arm#

Initializing the arm Class #

A 6-Axis Arm is created by using the following constructor:

The arm constructor creates a 6-Axis CTE Arm in the specified Port.

Parameter	Description
`port`	A valid Smart Port that the 6-Axis Arm is connected to.

// Construct a 6-Axis arm "Arm" with the
// arm class.
arm Arm = arm(PORT1);

This Arm object will be used in all subsequent examples throughout this API documentation when referring to arm class methods.

Class Methods #

moveTo()#

The moveTo(x, y, z, waitForCompletion) method moves the end effector to the requested X, Y, and Z absolute position.

This can be a waiting or non-waiting method depending on if the waitForCompletion parameter is used.

Parameters	Description
x	The X coordinate to move to, in millimeters.
y	The Y coordinate to move to, in millimeters.
z	The Z coordinate to move to, in millimeters.
waitForCompletion	Determines whether the command will block subsequent commands (`waitForCompletion=true`) or allow immediate execution (`waitForCompletion=false`). If unspecified, the default for the `waitForCompletion` parameter is `waitForCompletion=true`.

Returns: true if the arm has moved to the requested position. false if it did not.

// Move the arm to the (200, 0, 100).
Arm.moveTo(200, 0, 100);

moveInc()#

The moveInc(x, y, z, waitForCompletion) method moves the end effector by the requested X, Y, and Z distances.

This can be a waiting or non-waiting method depending on if the waitForCompletion parameter is used.

Parameters	Description
x	The distance on the X axis to move for, in millimeters.
y	The distance on the Y axis to move for, in millimeters.
z	The distance on the Z axis to move for, in millimeters.
waitForCompletion	Determines whether the command will block subsequent commands (`waitForCompletion=true`) or allow immediate execution (`waitForCompletion=false`). If unspecified, the default for the `waitForCompletion` parameter is `waitForCompletion=true`.

Returns: true if the arm has moved to the requested position. false if it did not.

// Move the Arm +100 millimeters on the Y axis.
Arm.moveInc(0, 100, 0);

moveEndEffectorTo()#

The moveEndEffectorTo(yaw, roll, pitch, waitForCompletion) method moves the end effector to the requested absolute yaw, roll, and pitch orientation.

This can be a waiting or non-waiting method depending on if the waitForCompletion parameter is used.

Parameters	Description
yaw	The angle around the Z axis that the end effector should point to, in degrees.
roll	The angle around the X axis that the end effector should point to, in degrees.
pitch	The angle around the Y axis that the end effector should point to, in degrees.
waitForCompletion	Determines whether the command will block subsequent commands (`waitForCompletion=true`) or allow immediate execution (`waitForCompletion=false`). If unspecified, the default for the `waitForCompletion` parameter is `waitForCompletion=true`.

Returns: true if the end effector has moved to the requested orientation. false if it has not.

// Orient the end effector to point towards 
// 90 degrees around the X axis.
Arm.moveEndEffectorTo(0, 90, 0);

moveEndEffectorInc()#

The moveEndEffectorInc(yaw, roll, pitch, waitForCompletion) method moves the end effector to the requested relative yaw, roll, and pitch orientation.

This can be a waiting or non-waiting method depending on if the waitForCompletion parameter is used.

Parameters	Description
yaw	The angle around the Z axis that the end effector should change by, in degrees.
roll	The angle around the X axis that the end effector should change by, in degrees.
pitch	The angle around the Y axis that the end effector should change by, in degrees.
waitForCompletion	Determines whether the command will block subsequent commands (`waitForCompletion=true`) or allow immediate execution (`waitForCompletion=false`). If unspecified, the default for the `waitForCompletion` parameter is `waitForCompletion=true`.

Returns: true if the end effector has moved to the requested orientation. false if it has not.

// Orient the end effector -50 degrees on the Y axis.
Arm.moveEndEffectorInc(0, 0, -50);

setSpeed()#

The setSpeed(speed) method sets the speed for moves.

Parameters	Description
speed	The speed at which the arm should move.

Returns: None.

setEndEffectorType()#

The setEndEffectorType(type) method sets the end effector type to magnet or pen.

Parameters	Description
type	A valid EndEffectorType.

Returns: true if the requested type was set. false if it was not.

// Set the end effector to the Magnet Pickup Tool.
Arm.setEndEffectorType(magnet);

setEndEffectorMagnet()#

The setEndEffectorMagnet(state) method sets the end effector magnet to enabled or disabled.

Parameters	Description
state	`true` or `false`

Returns: None.

// Enable the Magnet Pickup Tool.
Arm.setEndEffectorMagnet(true);

setPenOffset()#

The setPenOffset(zOffset) method sets the pen end effector Z axis offset.

Parameters	Description
zOffset	The new offset in `mm`. A positive z value indicates up.

Returns: None.

setControlStop()#

The setControlStop(state) method disables the arm and places joint motors in brake mode.

Parameters	Description
state	`true`, to disable further linear or joint moves, or `false`.

Returns: None.

controlStopped()#

The controlStopped(callback) method registers a function to be called when the arm control stop is enabled.

Parameters	Description
callback	A function that will be called when the arm is control stopped

Returns: None.

// Define the whenControlStopped function with a void
// return type, showing it doesn't return a value.
void whenControlStopped() {
  // The brain will print that the arm has been control stopped
  // on the Brain's screen.
  Brain.Screen.print("The arm has been control stopped");
}

int main() {
  // Initializing Robot Configuration. DO NOT REMOVE!
  vexcodeInit();

  // Run whenControlStopped when the the arm is control stopped.
  Arm.controlStopped(whenControlStopped);
}

canArmReachTo()#

The canArmReachTo(x, y, z) method checks if the end effector can move to the requested X, Y, and Z absolute position.

Parameters	Description
x	The X coordinate to move to, in millimeters.
y	The Y coordinate to move to, in millimeters.
z	The Z coordinate to move to, in millimeters.

Returns: true if the arm can move to the requested position. false if it cannot.

// Check if the arm can move to the (100, -20, 50).
if (Arm.canArmReachTo(100, -20, 50)){
  // Move the arm to (100, -20, 50).
  Arm.moveTo(100, -20, 50);
}

canArmReachInc()#

The Arm.canArmReachInc(x, y, z) method checks if the end effector can move to the requested X, Y, and Z relative position.

Parameters	Description
x	The distance on the X axis to move for, in millimeters.
y	The distance on the Y axis to move for, in millimeters.
z	The distance on the Z axis to move for, in millimeters.

Returns: true if the arm can move to the requested position. false if it cannot.

// Check if the arm can increment by 100 mm along the x-axis.
if (Arm.canArmReachInc(100, 0, 0)){
  // Increment the arm by 100 mm along the X axis.
  Arm.moveInc(100, 0, 0);
}

canEndEffectorReachTo()#

The canEndEffectorReachTo(yaw, roll, pitch) method checks if the end effector can move to the requested absolute yaw, roll, and pitch orientation.

Parameters	Description
yaw	The angle around the Z axis that the end effector should point to, in degrees.
roll	The angle around the X axis that the end effector should point to, in degrees.
pitch	The angle around the Y axis that the end effector should point to, in degrees.

Returns: true if the end effector can move to the requested orientation. false if it cannot.

// Check if the arm can orient 25 degrees around the Z axis.
if (Arm.canEndEffectorReachTo(25, 0, 0)){
  // Orient to 25 degrees around the Z axis.
  Arm.moveEndEffectorTo(25, 0, 0);
}

canEndEffectorReachInc()#

The canEndEffectorReachInc(yaw, roll, pitch) method checks if the end effector can move to the requested relative yaw, roll, and pitch orientation.

Parameters	Description
yaw	The angle around the Z axis that the end effector will move for, in degrees.
roll	This is an optional parameter. The angle around the X axis that the end effector will move for, in degrees.
pitch	This is an optional parameter. The angle around the Y axis that the end effector will move for, in degrees.

Returns: true if the end effector can move to the requested orientation. false if it cannot.

// Check If the arm can increment its orientation 
// by 10 degrees on the X axis.
if (Arm.canEndEffectorReachInc(0, 10, 0)){
  // Move +10 degrees around the X axis.
  Arm.moveEndEffectorInc(0, 10, 0);
}

isDone()#

The isDone() method returns the status of arm movement.

Returns: true if the arm is currently performing a movement. false if it is not.

// Move Arm to (-100, 200, 100) and let subsequent methods execute.
Arm.moveTo(-100, 200, 100, false);
// Keep repeating the methods until the Arm is done moving.
while (!Arm.isDone()) {
  // Print the Arm's current Y coordinate on the Brain every .25 seconds.
  Brain.Screen.print(Arm.getY());
  Brain.Screen.newLine();
  wait(0.25, seconds);
}

getX()#

The getX() method returns the X position of the end effector.

Returns: A float representing the X position of the end effector in mm.

// Print the current X position of the Arm in degrees.
Brain.Screen.print(Arm.getX());

getY()#

The getY() method returns the Y position of the end effector.

Returns: A float representing the Y position of the end effector in mm.

// Print the current Y position of the Arm in degrees.
Brain.Screen.print(Arm.getY());

getZ()#

The getZ() method requests the Z position of the end effector.

Returns: A float representing the Z position of the end effector in mm.

// Print the current Z position of the Arm in degrees.
Brain.Screen.print(Arm.getZ());

getYaw()#

The getYaw() method requests the current yaw of the end effector.

Returns: A float representing the current yaw of the end effector in degrees.

// Print the current yaw of the Arm in degrees.
Brain.Screen.print(Arm.getYaw());

getRoll()#

The getRoll() method requests the current roll of the end effector.

Returns: A float representing the current roll of the end effector in degrees.

// Print the current roll of the Arm in degrees.
Brain.Screen.print(Arm.getRoll());

getPitch()#

The getPitch() method requests the current pitch of the end effector.

Returns: A float representing the current pitch of the end effector in degrees.

// Print the current pitch of the Arm in degrees.
Brain.Screen.print(Arm.getPitch());

setTimeout()#

The setTimeout(timeout, units) method sets the timeout value used when moving the Arm.

Parameters	Description
timeout	The new timeout value.
units	A valid TimeUnit.

Returns: None.

arm#

Initializing the arm Class #

Class Methods #

moveTo()#

moveInc()#

moveEndEffectorTo()#

moveEndEffectorInc()#

setSpeed()#

setEndEffectorType()#

setEndEffectorMagnet()#

setPenOffset()#

setControlStop()#

controlStopped()#

canArmReachTo()#

canArmReachInc()#

canEndEffectorReachTo()#

canEndEffectorReachInc()#

isDone()#

getX()#

getY()#

getZ()#

getYaw()#

getRoll()#

getPitch()#

setTimeout()#

isConnected()#

timestamp()#

installed()#