/xArm-CPLUS-SDK

C++ SDK for UFACTORY robots, 850, xArm5/6/7, and Lite6.

Primary LanguageC++BSD 3-Clause "New" or "Revised" LicenseBSD-3-Clause

xArm-C++-SDK

Overview

  • The current version supports Linux/windows/MacOS(beta), 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

  • 1.14.2

    • Fix the 503 interface protocol identification error issue
    • Added sync parameters to some gpio interfaces to support immediate execution (requires firmware 2.4.101 or above)
    • Added XArmAPIWrapper to C# calls to support simultaneous control of multiple robotic arms
    • Added new interface to support obtaining some error information

  • 1.13.0

    • Compatible with the standard Modbus TCP protocol, providing part of the standard Modbus TCP protocol interface

  • 1.12.2

    • Support partial Task feedback (requires firmware version greater than or equal to v2.1.0)

  • 1.11.6

    • Correct the ambiguity that the set_position_aa interface is true when both relative and is_tool_coord are true. After the correction, when is_tool_coord is true, relative is invalid (previously is_tool_coord was invalid when relative was true)

  • 1.11.5

    • Optimization pause time is too long (wait=true)
    • Add common motion api (Enabled after firmware version 1.11.100)
    • The Cartesian motion-related interface adds the motion_type parameter to determine the planning method (Enabled after firmware version 1.11.100)

  • More

Doc

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 clean
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