BB.Ufactory.Message.ArmStatus (bb_ufactory v0.1.0)

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Arm state and mode snapshot from the xArm real-time report.

Published by BB.Ufactory.Controller to [:sensor, controller_name, :arm_status] whenever the arm's state, mode, error_code, or warn_code changes between consecutive report frames.

Fields

  • state — arm motion state integer (per the xArm Python SDK get_state):

    • 1 — in motion
    • 2 — sleeping (ready, no motion)
    • 3 — suspended (paused)
    • 4 — stopping
    • Other values are firmware-internal transitional states and are passed through unchanged.

  • mode — control mode integer (per the SDK set_mode):

    • 0 — position control (normal operation)
    • 1 — servo motion (real-time servo mode)
    • 2 — joint teaching (manual drag)
    • 3 — Cartesian teaching (manual drag in Cartesian space)
    • 4 — joint velocity control
    • 5 — Cartesian velocity control
    • 6 — joint online trajectory planning
    • 7 — Cartesian online trajectory planning

  • error_code — hardware/controller error code (0 = no error). See BB.Error.Protocol.Ufactory.HardwareFault for the full code table.

  • warn_code — controller warning code (0 = no warning).

State is taken from the lower nibble of byte 4 of the real-time report frame; mode from the upper nibble.

Summary

Types

t()

Functions

new(frame_id, attrs)

Types

t()

@type t() :: %BB.Ufactory.Message.ArmStatus{
  error_code: non_neg_integer(),
  mode: non_neg_integer(),
  state: non_neg_integer(),
  warn_code: non_neg_integer()
}

Functions

new(frame_id, attrs)

@spec new(
  atom(),
  keyword()
) :: {:ok, BB.Message.t()} | {:error, term()}