State Machines

Enumerations
enum	ArmState {   ARM_STATE_IDLE = 0 , ARM_STATE_POSITION = 1 , ARM_STATE_TORQUE = 2 , ARM_STATE_RELEASE = 3 ,   ARM_STATE_TRANS_TAG = 50 , ARM_STATE_ERROR = 100 , ARM_STATE_TRANS_TO_POSITION = 101 , ARM_STATE_TRANS_TO_TORQUE = 102 ,   ARM_STATE_TRANS_TO_RELEASE = 103 , ARM_STATE_TRANS_TO_IDLE = 109 }
	Arm motion state machine. More...
enum	HeadState {   HEAD_STATE_IDLE = 0 , HEAD_STATE_POSITION = 1 , HEAD_STATE_TRANS_TAG = 50 , HEAD_STATE_ERROR = 100 ,   HEAD_STATE_TRANS_TO_POSITION = 101 , HEAD_STATE_TRANS_TO_IDLE = 109 }
	Head motion state machine.
enum	BodyState {   BODY_STATE_IDLE = 0 , BODY_STATE_POSITION = 1 , BODY_STATE_TORQUE = 2 , BODY_STATE_RELEASE = 3 ,   BODY_STATE_TRANS_TAG = 50 , BODY_STATE_ERROR = 100 , BODY_STATE_TRANS_TO_POSITION = 101 , BODY_STATE_TRANS_TO_TORQUE = 102 ,   BODY_STATE_TRANS_TO_RELEASE = 103 , BODY_STATE_TRANS_TO_IDLE = 109 }
	Body motion state machine.
enum	LiftState {   LIFT_STATE_IDLE = 0 , LIFT_STATE_POSITION = 1 , LIFT_STATE_TRANS_TAG = 50 , LIFT_STATE_ERROR = 100 ,   LIFT_STATE_TRANS_TO_POSITION = 101 , LIFT_STATE_TRANS_TO_IDLE = 109 }
	Lift motion state machine.
enum	FXStateType {   FX_STATE_IDLE = 0 , FX_STATE_POSITION = 1 , FX_STATE_IMP_JOINT = 2 , FX_STATE_IMP_CART = 3 ,   FX_STATE_IMP_FORCE = 4 , FX_STATE_DRAG_JOINT = 5 , FX_STATE_DRAG_CART_X = 6 , FX_STATE_DRAG_CART_Y = 7 ,   FX_STATE_DRAG_CART_Z = 8 , FX_STATE_DRAG_CART_R = 9 , FX_STATE_RELEASE = 10 , FX_STATE_PD = 11 ,   FX_STATE_ERROR = 100 , FX_STATE_TRANSFERRING = 101 , FX_STATE_UNKNOWN = 200 }
	Global FX system states. More...
enum	FXHandType { FX_HAND_LEFT = 0 , FX_HAND_RIGHT = 1 }
	Hand type identifier. More...
enum	FXHandAction { FX_HAND_ACTION_DISABLE = 0 , FX_HAND_ACTION_ENABLE = 1 , FX_HAND_ACTION_RESET = 2 }
	Runtime action commands for the hand module. More...
enum	FXHandState { FX_HAND_STATE_DISABLED = 0 , FX_HAND_STATE_ENABLED = 1 , FX_HAND_STATE_ERROR = 100 }
	Current state of the hand module. More...

Detailed Description

Motion and system state enumerations.

Enumeration Type Documentation

ArmState

enum ArmState

Arm motion state machine.

Enumerator
ARM_STATE_IDLE	Idle state.
ARM_STATE_POSITION	Position control mode.
ARM_STATE_TORQUE	Torque control mode.
ARM_STATE_RELEASE	Collaborative release mode.
ARM_STATE_TRANS_TAG	Transition tag.
ARM_STATE_ERROR	Error state.
ARM_STATE_TRANS_TO_POSITION	Transition to position mode.
ARM_STATE_TRANS_TO_TORQUE	Transition to torque mode.
ARM_STATE_TRANS_TO_RELEASE	Transition to release mode.
ARM_STATE_TRANS_TO_IDLE	Transition to idle.

FXHandAction

enum FXHandAction

Runtime action commands for the hand module.

These actions are used to change the operating state of the hand, such as enabling, disabling, or resetting the device.

Enumerator
FX_HAND_ACTION_DISABLE	Disable the hand module.
FX_HAND_ACTION_ENABLE	Enable the hand module.
FX_HAND_ACTION_RESET	Reset the hand module to its initial state.

FXHandState

enum FXHandState

Current state of the hand module.

The state is reported by the hand module to indicate whether it is disabled, enabled and operational, or in an error condition.

Enumerator
FX_HAND_STATE_DISABLED	Hand module is disabled.
FX_HAND_STATE_ENABLED	Hand module is enabled and operational.
FX_HAND_STATE_ERROR	Hand module is in an error state.

FXHandType

enum FXHandType

Hand type identifier.

Used to distinguish between left and right hand modules.

Enumerator
FX_HAND_LEFT	Left hand module.
FX_HAND_RIGHT	Right hand module.

FXStateType

enum FXStateType

Global FX system states.

Enumerator
FX_STATE_IDLE	Idle.
FX_STATE_POSITION	Position control.
FX_STATE_IMP_JOINT	Joint impedance.
FX_STATE_IMP_CART	Cartesian impedance.
FX_STATE_IMP_FORCE	Force-based impedance.
FX_STATE_DRAG_JOINT	Joint drag teaching.
FX_STATE_DRAG_CART_X	Cartesian X drag.
FX_STATE_DRAG_CART_Y	Cartesian Y drag.
FX_STATE_DRAG_CART_Z	Cartesian Z drag.
FX_STATE_DRAG_CART_R	Rotation drag.
FX_STATE_RELEASE	Release mode.
FX_STATE_PD	PD control mode.
FX_STATE_ERROR	Error state.
FX_STATE_TRANSFERRING	State transferring.
FX_STATE_UNKNOWN	Unknown state.