ExcessiveMotion_controller-software/Documentation/API Backend/Motion/Motion APIs.md

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