CPP API

Init

Function: Initialize FSA object

Parameters:

1. ip: Target actuator IP;
2. net_recv_mode: Network receive mode, optional YIELD_WAIT (blocking wait) or SPIN_WAIT (spin wait).

Return Value: Status code

Power

OpenRelay

Function: Open power control board relay

Parameters:

1. timeout_ms: Timeout (ms), default is 5ms;
2. max_retry: Maximum retry count, default is 0 times.

Return Value: Status code

CloseRelay

Function: Close power control board relay

Parameters:

1. timeout_ms: Timeout (ms), default is 5ms;
2. max_retry: Maximum retry count, default is 0 times.

Return Value: Status code

Reboot

Function: Reboot actuator

Parameters:

1. timeout_ms: Timeout (ms), default is 5ms;
2. max_retry: Maximum retry count, default is 0 times.

Return Value: Status code

Control

EnableControl

Function: Enable actuator position/velocity/torque/PD mode

Parameters:

1. ctrl_mode: Control mode enumeration (position/velocity/torque/PD);
2. timeout_ms: Timeout (ms), default is 5ms;
3. max_retry: Maximum retry count, default is 0 times.

Return Value: Status code

Note: This interface internally executes the following commands sequentially. Failure of any step will cause the interface to return a status code directly:

1. Get current position/velocity/current/torque feedback;
2. Set target position/velocity/current command;
   1. Set target position to current position, feedforward velocity to 0, feedforward current to 0 (if enabling position or PD mode);
   2. Set target velocity to 0, feedforward current to 0 (if enabling velocity mode);
   3. Set target current to 0 (if enabling torque mode).
3. Enable.

DisableControl

Function: Disable actuator

Parameters:

1. timeout_ms: Timeout (ms), default is 5ms;
2. max_retry: Maximum retry count, default is 0 times.

Return Value: Status code

SetPositionNoAck

Function: Send target position command, feedforward velocity command, feedforward torque command, actuator does not reply

Parameters:

1. tx_pos: Target position;
2. tx_vel_ff: Feedforward velocity;
3. tx_tor_ff: Feedforward torque;
4. timeout_ms: Timeout (ms), default is 5ms;
5. max_retry: Maximum retry count, default is 0 times.

Return Value: Status code

Note: This interface will convert target position and feedforward velocity from radians to degrees, and convert feedforward torque to current value before sending to the actuator. Please check that the actuator parameter configuration (motor model and reduction ratio) is correct before use.

SetPosition

Function: Send target position command, feedforward velocity command, feedforward torque command, actuator replies with status

Parameters:

1. tx_pos: Target position;
2. tx_vel_ff: Feedforward velocity;
3. tx_tor_ff: Feedforward torque;
4. timeout_ms: Timeout (ms), default is 5ms;
5. max_retry: Maximum retry count, default is 0 times.

Return Value: Status code

Note: This interface will convert target position and feedforward velocity from radians to degrees, and convert feedforward torque to current value before sending to the actuator. Please check that the actuator parameter configuration (motor model and reduction ratio) is correct before use.

SetVelocityNoAck

Function: Send target velocity command, feedforward torque command, actuator does not reply

Parameters:

1. tx_vel: Target velocity;
2. tx_tor_ff: Feedforward torque;
3. timeout_ms: Timeout (ms), default is 5ms;
4. max_retry: Maximum retry count, default is 0 times.

Return Value: Status code

Note: This interface will convert target velocity from radians to degrees, and convert feedforward torque to current value before sending to the actuator. Please check that the actuator parameter configuration (motor model and reduction ratio) is correct before use.

SetVelocity

Function: Send target velocity command, feedforward torque command, actuator replies with status

Parameters:

1. tx_vel: Target velocity;
2. tx_tor_ff: Feedforward torque;
3. timeout_ms: Timeout (ms), default is 5ms;
4. max_retry: Maximum retry count, default is 0 times.

Return Value: Status code

Note: This interface will convert target velocity from radians to degrees, and convert feedforward torque to current value before sending to the actuator. Please check that the actuator parameter configuration (motor model and reduction ratio) is correct before use.

SetTorqueNoAck

Function: Send target torque command, actuator does not reply

Parameters:

1. tx_tor: Target torque;
2. timeout_ms: Timeout (ms), default is 5ms;
3. max_retry: Maximum retry count, default is 0 times.

Return Value: Status code

Note: This interface will convert target torque to current value before sending to the actuator. Please check that the actuator parameter configuration (motor model and reduction ratio) is correct before use.

SetTorque

Function: Send target torque command, actuator replies with status

Parameters:

1. tx_tor: Target torque;
2. timeout_ms: Timeout (ms), default is 5ms;
3. max_retry: Maximum retry count, default is 0 times.

Return Value: Status code

Note: This interface will convert target torque to current value before sending to the actuator. Please check that the actuator parameter configuration (motor model and reduction ratio) is correct before use.

SetPDPositionVelocityNoAck

Function: Send target position command, target velocity command, feedforward torque command, actuator does not reply

Parameters:

1. tx_pos: Target position;
2. tx_vel: Target velocity;
3. tx_tor_ff: Feedforward torque;
4. timeout_ms: Timeout (ms), default is 5ms;
5. max_retry: Maximum retry count, default is 0 times.

Return Value: Status code

Note: This interface will convert target position and target velocity from radians to degrees. PD mode does not need to convert feedforward torque to current value. FSA treats it as feedforward torque by default. Please check that the actuator parameter configuration (motor model and reduction ratio) is correct before use.

SetPDPositionVelocity

Function: Send target position command, target velocity command, feedforward torque command, actuator replies with status

Parameters:

1. tx_pos: Target position;
2. tx_vel: Target velocity;
3. tx_tor_ff: Feedforward torque;
4. timeout_ms: Timeout (ms), default is 5ms;
5. max_retry: Maximum retry count, default is 0 times.

Return Value: Status code

Note: This interface will convert target position and target velocity from radians to degrees. PD mode does not need to convert feedforward torque to current value. FSA treats it as feedforward torque by default. Please check that the actuator parameter configuration (motor model and reduction ratio) is correct before use.

State

GetPVCTTe

Function: Get actuator feedback position, velocity, current, load torque and electromagnetic torque

Parameters:

1. rx_pvctte: Store the obtained position, velocity, current, load torque and electromagnetic torque;
2. timeout_ms: Timeout (ms), default is 5ms;
3. max_retry: Maximum retry count, default is 0 times.

Return Value: Status code

Note: This interface will convert feedback position and feedback velocity from degrees to radians, and convert feedback current to electromagnetic torque. Please check that the actuator parameter configuration (motor model and reduction ratio) is correct before use.

EnableSubscribe

Function: Enable subscribe mode

Parameters:

1. tx_subs_config: Subscribe mode configuration;
2. timeout_ms: Timeout (ms), default is 5ms;
3. max_retry: Maximum retry count, default is 0 times.

Return Value: Status code

GetSubsData

Function: Get the latest subscription data

Parameters:

1. subs_data: Store the obtained subscription data;

Return Value: Status code

Note: This interface guarantees that each call returns the latest frame of subscription data and discards cached data frames in the Socket buffer.

GetTempVbus

Function: Get actuator temperature and bus voltage

Parameters:

1. rx_temp_vbus: Store the obtained actuator temperature and bus voltage;
2. timeout_ms: Timeout (ms), default is 5ms;
3. max_retry: Maximum retry count, default is 0 times.

Return Value: Status code

Note: This interface internally executes the following commands:

1. Get actuator temperature;
2. Get actuator bus voltage.

GetErrCode

Function: Get actuator error

Parameters:

1. rx_error: Store the obtained error code array, a total of 8 error codes;
2. timeout_ms: Timeout (ms), default is 5ms;
3. max_retry: Maximum retry count, default is 0 times.

Return Value: Status code

Config

SetPIDParams

Function: Set temporary immediately effective (imm) PID parameters

Parameters:

1. tx_pos_kp: Position loop Kp;
2. tx_vel_kp: Velocity loop Kp;
3. tx_vel_ki: Velocity loop Ki;
4. timeout_ms: Timeout (ms), default is 5ms;
5. max_retry: Maximum retry count, default is 0 times.

Return Value: Status code

GetPIDParams

Function: Get temporary immediately effective (imm) PID parameters

Parameters:

1. rx_pid_param: Store the obtained temporary immediately effective (imm) PID parameters;
2. timeout_ms: Timeout (ms), default is 5ms;
3. max_retry: Maximum retry count, default is 0 times.

Return Value: Status code

SetPDParams

Function: Set temporary immediately effective (imm) PD parameters

Parameters:

1. tx_pd_kp: PD loop Kp;
2. tx_pd_kd: PD loop Kd;
3. timeout_ms: Timeout (ms), default is 5ms;
4. max_retry: Maximum retry count, default is 0 times.

Return Value: Status code

GetPDParams

Function: Get temporary immediately effective (imm) PD parameters

Parameters:

1. rx_pd_param: Store the obtained temporary immediately effective (imm) PD parameters;
2. timeout_ms: Timeout (ms), default is 5ms;
3. max_retry: Maximum retry count, default is 0 times.

Return Value: Status code

Advanced

To be implemented

Status Codes

Status Code	SUCCESS	SDK_VER_NOT_MATCH	CTRL_PARAM_ERR	INTERFACE_HANDLE_ERR	ARG_ERR	NET_ERR	TIMEOUT	NET_RXBUF_DATA_ERR
Value	0	-101	-102	-201	-202	-301	-302	-303
Meaning	Operation successful	SDK version mismatch	Actuator configuration parameter error	Actuator object not initialized	Invalid interface parameter	Network error	Network receive timeout	Network receive buffer data does not match sent command
Possible Cause	/	Actuator firmware version too low or SDK dynamic library and header file version mismatch	Model and version number not obtained successfully	Init function not executed	Parameters passed to interface do not meet requirements	FSA network for corresponding IP is disconnected	Waiting time for receiving actuator return data exceeds specified timeout	Received system socket input buffer previous frames cause command mismatch