手臂

初始化arm类

使用以下构造函数创建 6 轴臂：

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

范围	描述
port	6 轴臂连接到的有效 智能端口。

// 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.

类方法

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.

参数	描述
x	要移动到的 X 坐标（以毫米为单位）。
y	要移动到的 Y 坐标（以毫米为单位）。
z	要移动到的 Z 坐标（以毫米为单位）。
等待完成	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.

参数	描述
x	X 轴上移动的距离（以毫米为单位）。
y	Y 轴上移动的距离（以毫米为单位）。
z	Z 轴移动的距离（以毫米为单位）。
等待完成	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.

参数	描述
偏航	末端执行器应指向的围绕 Z 轴的角度（以度为单位）。
卷	末端执行器应指向的围绕 X 轴的角度（以度为单位）。
沥青	末端执行器应指向的围绕 Y 轴的角度（以度为单位）。
等待完成	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.

参数	描述
偏航	末端执行器围绕 Z 轴应改变的角度（以度为单位）。
卷	末端执行器围绕 X 轴应改变的角度（以度为单位）。
沥青	末端执行器围绕 Y 轴应改变的角度（以度为单位）。
等待完成	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.

参数	描述
速度	手臂移动的速度。

**返回：**无。

setEndEffectorType()

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

参数	描述
类型	有效的 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.

参数	描述
状态	true or false

**返回：**无。

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

setPenOffset()

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

参数	描述
z偏移	The new offset in mm. A positive z value indicates up.

**返回：**无。

setControlStop()

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

参数	描述
状态	true, to disable further linear or joint moves, or false.

**返回：**无。

controlStopped()

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

参数	描述
打回来	当手臂控制停止时调用的函数

**返回：**无。

// 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.

参数	描述
x	要移动到的 X 坐标（以毫米为单位）。
y	要移动到的 Y 坐标（以毫米为单位）。
z	要移动到的 Z 坐标（以毫米为单位）。

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.

参数	描述
x	X 轴上移动的距离（以毫米为单位）。
y	Y 轴上移动的距离（以毫米为单位）。
z	Z 轴移动的距离（以毫米为单位）。

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.

参数	描述
偏航	末端执行器应指向的围绕 Z 轴的角度（以度为单位）。
卷	末端执行器应指向的围绕 X 轴的角度（以度为单位）。
沥青	末端执行器应指向的围绕 Y 轴的角度（以度为单位）。

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.

参数	描述
偏航	末端执行器围绕 Z 轴移动的角度（以度为单位）。
卷	这是一个可选参数。末端执行器绕 X 轴移动的角度（以度为单位）。
沥青	这是一个可选参数。末端执行器绕 Y 轴移动的角度（以度为单位）。

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.

**返回：**一个浮点数，表示末端执行器当前偏航角度（以度为单位）。

// 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.

**返回：**一个浮点数，表示末端执行器当前滚动的角度（以度为单位）。

// 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.

**返回：**一个浮点数，表示末端执行器当前倾斜度（以度为单位）。

// 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.

参数	描述
暂停	新的超时值。
单位	有效的 timeUnit。

**返回：**无。

isConnected()

The isConnected() method checks if the CTE arm is connected. This is a compatibility function that returns the same as the installed() function.

Returns: true if the arm is connected to the brain on the associated smartport. false if it is not.

timestamp()

The timestamp() method requests the timestamp of the last received status packet from the Arm.

**返回：**最后一个状态包的时间戳，以毫秒为单位的无符号 32 位整数。

installed()

The installed() method returns if the device is connected.

Returns: true if the device is connected. false if it is not.