set_robot_control
This is a function that the user can set and convert the current operation state in the robot controller.
Definition
DRFLEx.h within class CDRFLEx, public section (line 698)
bool set_robot_control(ROBOT_CONTROL eControl) { return _set_robot_control(_rbtCtrl, eControl); };
Parameter
Parameter Name |
Data Type |
Default Value |
Description |
|---|---|---|---|
eControl |
Control command to apply to the robot controller. |
Return
Value |
Type |
Description |
|---|---|---|
0 |
int |
Error — failed to change the control state. |
1 |
int |
Success — successfully changed the control state. |
Example
if (drfl.get_robot_state() == ESTATE_SAFE_OFF) {
// Servo ON (reset from SAFE OFF)
drfl.set_robot_control(CONTROL_RESET_SAFET_OFF);
}
else if (drfl.get_robot_state() == ESTATE_SAFE_OFF2) {
// Enter recovery mode
drfl.set_robot_control(CONTROL_RECOVERY_SAFE_OFF);
}
This example checks the robot’s safe-off state and sends a control command accordingly. It resets the servo power or performs recovery, enabling the robot to return to a controllable state.