/xArm-CPLUS-SDK

Primary LanguageC++

xArm-C++-SDK

Overview

  • The current version supports Linux and windows, but the source code structure has changed.

Caution

  • During use, people should stay away from the robot arm to avoid accidental injury or damage to other items by the robot arm.
  • Protect the arm before use.
  • Before you exercise, please make sure you don't encounter obstacles.
  • Protect the arm before unlocking the motor.

Update Summary

  • 1.4.0

    • Support windows platform
    • Support servo cartesian interface

  • 1.3.0

    • Added several attributes
    • Support tool coordinate system movement
    • Support joint range limitation, collision rebound setting
    • Support user coordinate system setting
    • Support the status of the air pump
    • Added counter interface

Linux

  • Get the code:

    git clone https://github.com/xArm-Developer/xArm-CPLUS-SDK.git

  • Change directory

    cd ./xArm-CPLUS-SDK/

  • Build library:

    make xarm

  • Build all example

    make test

  • Build a example

    make test-0002-get_property # build example/test-0002-get_property.cc

  • Build all (build library and build all example)

    make # make xarm && make test

  • Install

    sudo make install

  • Uninstall

    sudo make uninstall

  • Run a example

    ./build/example/0002-get_property 192.168.1.221

Windows

  • Running environment

    It is recommended to run the project with visual studio 2015.Make sure your visual studio 2015 has a visual C++ development environment installed before running.

  • Get the code:

    git clone https://github.com/xArm-Developer/xArm-CPLUS-SDK.git

  • Change directory

    Change your directory xArm-CPLUS-SDK/visual_studio

  • Open project

    If you changed your directory, you can see a visual_studio.sln file. Click this file you will open the project.

  • Check the xarm project properties

    Open the xarm property pages and make sure your project configuration is the same as the following screenshot configuration.

VC++ Directories path 
	$(ProjectDir)..\..\include
	$(ProjectDir)..\..\src

    image-20191217153415733

    image-20191217152542587

  • Check the example project properties

    Open the example property pages and make sure your project configuration is the same as the following screenshot configuration.
Example project dependencies and xarm projects so references must be added to run.

    image-20191217154258804

    image-20191217154111439

  • Build project

    Right click example project and build the projiect.If the example project bulid successful you will get a .exe file in you project path.

.exe path like this C:\Users\ufactory\Desktop\xArm-CPLUS-SDK\visual_studio\x64\Debug\0002-get_property.exe

    image-20191217155932743

  • Run project

    You can use cmd run project.

    image-20191217160911893

  • New project

    If you want to create a new project, you need to pay attention to the dependent path of your new project. 
You must make sure that the configuration of the project you create is the same as that of the example project.

Example

Doc