xarm_set_blockly_init

1. Introduction

Initialize the parameter of the robot before running the Blockly project.

2. Request & Response

Message

{
    "cmd": "xarm_set_blockly_init",
    "data": {
        "version":"850"
    },
    "id": "1"
}

Request

Name	Type	Required fields	Description
version	String	Yes	lite6: Lite6; 850: UFACTORY 850; xArm: null

Response

code=0->success;
code!=0->Failed, refer to xarm_api_code;

3. Code Example

background

mode = GLOBAL.XArm.xarm.mode
if mode == 2:
    return response(client, cmd_id, 105)
yield self.xarm_check_tcp(None, cmd_id, data)
yield self.xarm_set_ready(None, cmd_id, data)
self._xarm_set_params(**{
    'Q': GLOBAL.XArm.xarm_tcp_acc,
    'Q2': GLOBAL.XArm.xarm_joint_acc,
})

front_end

self.setBlocklyInit = (callback) => {
  window.GlobalUtil.model.robot.event.GPIOEvent.reset(true);
  window.GlobalUtil.model.robot.state.local.acceleration = window.GlobalUtil.model.robot.state.remote.defaultTcpAcc;
  window.GlobalUtil.model.robot.state.local.angle_acceleration = window.GlobalUtil.model.robot.state.remote.defaultJointAcc;
  const params = window.GlobalConstant.INIT_CMD_PARAMS_COMMON_DATA();
  Object.assign(params.data, {
    mode: self.model.robot.state.info.xarm_mode,
  });
  self.sendCmd(window.GlobalConstant.SET_BLOCKLY_INIT, params, (dict) => {
    self.codeHandle(dict, 'set blockly init', true);
    if (callback) {
      callback(dict);
    }
  });
}