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# Jogging
API commands for Joggin the robot at {{JogSpeed}} rotations per minute (TODO: define jog speed)
Because of the stream like nature of jogging, jogging requests are sent as notifications without id. On a success the client will not receive any response. On a failure the API will send out a {{MotionError}} notification. Jogging requests should be sent at a regular frequency in order to maintain the current motion. When no jogging message has not been received for {{JogFrequency}} (default 100ms) milliseconds, the motion controller will immediatly stop.
Be advised that high latency connection can result in motor stutter. Increasing the {{JogFrequency}} can fix this but will result in a more delayed stop time.
### Raw joint movements
This is a notification command. There should not be a ID in this request.
```
{"method": "jogJoint", "params": [jointIndex, direction]}
```
Params:
jointIndex: 0 based index for the joint.
direction: 1 for positive direction, 0 for negative direction
Result: None
Error:
{{MotionError}} notification will be sent out if a jog command could not be followed.
Example:
```
{"method": "jogJoint", "params": [0, 1]}
```
Robot joint 0 should go in the positive direction at {{JogSpeed}}
### Tool frame jogging
This is a notification command. There should not be a ID in this request.
```
{"method": "jogTool", "params": [toolIndex, vector]}
```
Params:
toolIndex: 0 based index for the tool frame.
vector: Array designating the direction vecor in XYZ format (TODO: this is an assumption on the capabilites from the motion planning team. Change this if needed)
Result: None
Error:
{{MotionError}} notification will be sent out if a jog command could not be followed.
Example:
```
{"method": "jogTool", "params": [0, [0,1,0]]}
```
Robot should go forward in the Y direction with repect to the tool frame
### Workspace frame jogging
This is a notification command. There should not be a ID in this request.
```
{"method": "jogWorkspace", "params": [workspaceIndex, vector]}
```
Params:
workspaceIndex: 0 based index for the workspace frame.
vector: Array designating the direction vecor in XYZ format (TODO: this is an assumption on the capabilites from the motion planning team. Change this if needed)
Result: None
Error:
{{MotionError}} notification will be sent out if a jog command could not be followed.
Example:
```
{"method": "jogWorkspace", "params": [0, [0,1,0]]}
```
Robot should go forward in the Y direction with repect to the workspace frame |