CPP API

Init

Function: Initialize the 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), default is blocking wait
3. rtcko_path: Default is an empty string, recommended to ignore

Return: Returns detailed execution status ret_e(int)

Power

OpenRelay

Function: Turn on the robot power board relay

Parameters:

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

Return: Returns detailed execution status ret_e(int)

Note: Controls the robot's power management board; the actuator itself does not have this function

CloseRelay

Function: Turn off the robot power board relay

Parameters:

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

Return: Returns detailed execution status ret_e(int)

Note: Controls the robot's power management board; the actuator itself does not have this function

Reboot

Function: Reboot the actuator

Parameters:

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

Return: Returns detailed execution status ret_e(int)

Control

EnableControl

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

Parameters:

1. ctrl_mode: Control mode enum (Position/Velocity/Torque/PD)
2. timeout_ms: Timeout (ms), default 5ms
3. max_retry: Maximum retry times, default 1

Return: Returns detailed execution status ret_e(int)

Note: Internally executes the following steps; any failure will return a status code:

1. Get current position, velocity, current, torque feedback

2. Set target commands:

   1. Position = current, feedforward velocity = 0, feedforward current = 0 (for position or PD mode)
   2. Velocity = 0, feedforward current = 0 (for velocity mode)
   3. Current = 0 (for torque mode)

3. Enable actuator

DisableControl

Function: Disable actuator control

Parameters:

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

Return: Returns detailed execution status ret_e(int)

SetPositionNoAck

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

Parameters:

1. p_rad: Target position
2. v_ff_radps: Velocity feedforward
3. t_ff_Nm: Torque feedforward

Return: Returns detailed execution status ret_e(int)

SetPosition

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

Parameters:

1. p_rad: Target position
2. v_ff_radps: Velocity feedforward
3. t_ff_Nm: Torque feedforward
4. timeout_ms: Timeout (ms), default 5ms
5. max_retry: Maximum retry times, default 1

Return: Returns detailed execution status ret_e(int)

SetVelocityNoAck

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

Parameters:

1. v_radps: Target velocity
2. t_ff_Nm: Torque feedforward

Return: Returns detailed execution status ret_e(int)

SetVelocity

Function: Send velocity target command, torque feedforward; actuator replies

Parameters:

1. v_radps: Target velocity
2. t_ff_Nm: Torque feedforward
3. timeout_ms: Timeout (ms), default 5ms
4. max_retry: Maximum retry times, default 1

Return: Returns detailed execution status ret_e(int)

SetTorqueNoAck

Function: Send torque target command; actuator does not reply

Parameters:

1. t_Nm: Target torque

Return: Returns detailed execution status ret_e(int)

SetTorque

Function: Send torque target command; actuator replies

Parameters:

1. t_Nm: Target torque
2. timeout_ms: Timeout (ms), default 5ms
3. max_retry: Maximum retry times, default 1

Return: Returns detailed execution status ret_e(int)

SetPDPositionVelocityNoAck

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

Parameters:

1. p_rad: Target position
2. v_radps: Target velocity
3. t_ff_Nm: Torque feedforward

Return: Returns detailed execution status ret_e(int)

SetPDPositionVelocity

Function: Send position target, velocity target, torque feedforward; actuator replies

Parameters:

1. p_rad: Target position
2. v_radps: Target velocity
3. t_ff_Nm: Torque feedforward
4. timeout_ms: Timeout (ms), default 5ms
5. max_retry: Maximum retry times, default 1

Return: Returns detailed execution status ret_e(int)

State

GetPVCTTe

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

Parameters:

1. rx_PVCTTe: Store position, velocity, current, load torque, electromagnetic torque
2. timeout_ms: Timeout (ms), default 5ms
3. max_retry: Maximum retry times, default 1

Return: Returns detailed execution status ret_e(int)

EnableSubscribe

Function: Configure subscription mode

Parameters:

1. subs_config: Subscription configuration
2. timeout_ms: Timeout (ms), default 5ms
3. max_retry: Maximum retry times, default 1

Return: Returns detailed execution status ret_e(int)

GetSubsData

Function: Get the latest subscription data

Parameters:

1. subs_data: Store subscription data

Return: Status code

Note: Returns the latest frame every call, discards any cached frames in the socket buffer

GetTempVbus

Function: Get MOS temperature, winding temperature, voltage

Parameters:

1. rx_temp_vbus: Store MOS temp, winding temp, voltage
2. timeout_ms: Timeout (ms), default 5ms
3. max_retry: Maximum retry times, default 1

Return: Returns detailed execution status ret_e(int)

GetErrCode

Function: Get current actuator error code

Parameters:

1. rx_errcode: Store error code
2. timeout_ms: Timeout (ms), default 5ms
3. max_retry: Maximum retry times, default 1

Return: Returns detailed execution status ret_e(int)

ParseErrCode

Function: Parse actuator error code

Parameters:

1. err_code: 8 uint32_t error codes obtained
2. parsed_err_code: Parsed error code

Return: Returns detailed execution status ret_e(int)

GetTypeSubversion

Function: Get actuator model and subversion

Parameters:

1. type_subversion: Store model and subversion
2. timeout_ms: Timeout (ms), default 5ms
3. max_retry: Maximum retry times, default 1

Return: Returns detailed execution status ret_e(int)

Config

SetPIDParams

Function: Set position/velocity PID parameters in real time

Parameters:

1. p_kp: Position loop proportional gain
2. v_kp: Velocity loop proportional gain
3. v_ki: Velocity loop integral gain
4. timeout_ms: Timeout (ms), default 5ms
5. max_retry: Maximum retry times, default 1

Return: Returns detailed execution status ret_e(int)

GetPIDParams

Function: Get position/velocity PID parameters in real time

Parameters:

1. rx_pid_param: Store PID parameters
2. timeout_ms: Timeout (ms), default 5ms
3. max_retry: Maximum retry times, default 1

Return: Returns detailed execution status ret_e(int)

SetPDParams

Function: Set PD parameters in real time

Parameters:

1. pd_kp: PD proportional gain
2. pd_kd: PD derivative gain
3. timeout_ms: Timeout (ms), default 5ms
4. max_retry: Maximum retry times, default 1

Return: Returns detailed execution status ret_e(int)

GetPDParams

Function: Get immediate PD parameters

Parameters:

1. rx_pd_param: Store PD parameters
2. timeout_ms: Timeout (ms), default 5ms
3. max_retry: Maximum retry times, default 1

Return: Returns detailed execution status ret_e(int)

Advanced

To be implemented

Status Codes

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	Failed to get actuator config	Actuator object not initialized	Invalid interface parameter	Network error	Network receive timeout	Received socket buffer data does not match command
Possible Cause	/	Actuator firmware too low or SDK library/header mismatch	Model/subversion not obtained	init not executed	Parameter invalid	FSA network disconnected	Actuator response exceeded timeout	Socket buffer contains old frames causing mismatch