piper_kit.messages.transmit.MotionControlBMessage

class documentation

class MotionControlBMessage(TransmitMessage):

Constructor: MotionControlBMessage(control_mode, move_mode, move_speed_rate)

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Message to configure motion control parameters for the robotic arm.

Static Method get_control_mode_byte Convert control mode to byte value.
Static Method get_move_mode_byte Convert move mode to byte value.
Method __init__ Create motion control message.
Constant ID Undocumented
Constant MAX_MOVE_SPEED_RATE Undocumented
Constant MIN_MOVE_SPEED_RATE Undocumented
Type Alias ControlMode Undocumented
Type Alias MoveMode Undocumented
@staticmethod
def get_control_mode_byte(mode: ControlMode) -> int:

Convert control mode to byte value.

Parameters
mode:ControlModeControl mode string
Returns
intByte value for the control mode
Raises
InvalidControlModeErrorIf mode is not valid
@staticmethod
def get_move_mode_byte(mode: MoveMode) -> int:

Convert move mode to byte value.

Parameters
mode:MoveModeMove mode string
Returns
intByte value for the move mode
Raises
InvalidMoveModeErrorIf mode is not valid
def __init__(self, control_mode: ControlMode, move_mode: MoveMode, move_speed_rate: int):
overrides piper_kit.messages.transmit.TransmitMessage.__init__

Create motion control message.

Parameters
control_mode:ControlModeControl mode ('can', 'standby', etc.)
move_mode:MoveModeMovement mode ('joint', 'end_pose', etc.)
move_speed_rate:intSpeed rate (0-100)
Raises
InvalidControlModeErrorIf control_mode is not valid
InvalidMoveModeErrorIf move_mode is not valid
InvalidMoveSpeedRateErrorIf move_speed_rate is not in range 0-100
ID: int =

Undocumented

Value
337
MAX_MOVE_SPEED_RATE: int =

Undocumented

Value
100
MIN_MOVE_SPEED_RATE: int =

Undocumented

Value
0
ControlMode =

Undocumented

Value
Literal['standby', 'can', 'ethernet', 'wifi', 'offline']
MoveMode =

Undocumented

Value
Literal['end_pose', 'joint', 'linear', 'circular']