Text-based Programming

Within the graphical programming environment Text-based Programming is also possible. One can use the Function Node to write code within a flow. If the Function Node is wired within a robot flow, one can access the robot object:

The robot is able to execute the following functions:

/**
 * Sends the robot the command to move to an absolute position in joint space, approaching the waypoint with the
 * specified mode, velocity and acceleration.
 * @param {Array<number>} values - The values specify the desired absolute joint values for the robot joints in
 * Euler angels, starting at the joint mounted closest to the robot base.
 * @param {1|2} mode - The mode specifies how to approach the waypoint specified in
 * this message.  Available values are 1 for a point-to-point motion and 2 for a linear motion.
 * @param {number} vel - The velocity approaching the waypoint. 0 equals 0% of the maximum available
 * velocity of the robot and 255 equals 100% of it.
 * @param {number} acc - The acceleration approaching the waypoint. 0 equals 0% of the maximum available
 * acceleration of the robot and 255 equals 100% of it.
 * @returns {Promise} - Returns a promise, which resolves when the robot executed the movement.
 */
setJoints(values, mode, vel, acc);

/**
 * Sends the robot the command to move its end-effector to an absolute pose in Cartesian space, approaching the
 * waypoint with the specified velocity and acceleration.
 * The function returns a promise, which resolves when the robot executed the movement.
 * @param {Array<number>} values - Values consists out of 6 numbers, the first three define the x,y and z
 * position in meters in Cartesian space. The next three define the x,y and z orientation given in Euler angles.
 * @param {1|2} mode - The mode specifies how to approach the waypoint specified in
 * this message.  Available values are 1 for a point-to-point motion and 2 for a linear motion.
 * @param {number} vel - The velocity approaching the waypoint. 0 equals 0% of the maximum available
 * velocity of the robot and 255 equals 100% of it.
 * @param {number} acc - The acceleration approaching the waypoint. 0 equals 0% of the maximum available
 * acceleration of the robot and 255 equals 100% of it.
 * @returns {Promise} - Returns a promise, which resolves when the robot executed the movement.
 */
setPose(values, mode, vel, acc);

/**
 * Sends the robot the command to set an analog or digital output to a specified value.
 * @param {number} address - The address of the robot output.
 * @param {number} value - The value to witch the output will be set.
 * @returns {Promise} - Returns a promise, which resolves when the robot set the output as specified.
 */
setOutput(address, value);

/**
 * Sends the robot the command to switch into gravity compensation mode, by which the robot joints can be moved
 * by hand.
 * @param {boolean} activate - Set to true/false if gravity compensation should be turned on/off.
 * @returns {Promise} - Returns true if the robot was able to enter into the state of gravity compensation.
 */
setGravityComp(activate);

/**
 * Sends the robot the command to switch into stop mode, in which no further commands can be executed and the
 * robot can not be moved by hand.
 * @param {boolean} activate - Set to true/false if stop state should be turned on/off.
 * @returns {Promise} - Returns true if the robot was able to enter stop mode.
 */
setStop(activate);

/**
 * The function returns all Euler angles of the robot joints.
 * @returns {Array<number>} - Returns  all Euler angles of the robot joints, starting at the joint mounted
 * closest to the robot base.
 */
getJointValues();

/**
 * The function returns the current absolute pose of the robot’s endeffector in Cartesian space.
 * @returns {Array<number>} - Returns the current absolute pose of the robot’s endeffector in Cartesian space.
 * The first three values of the output define the x,y and z position in meters in Cartesian space.
 * The next three define the x,y and z orientation given in Euler angles.
 */
getPoseValues();

/**
 * The function returns information on the current values of the robot inputs.
 * @returns {Array<number>} - Returns the current input values.
 */
getInputs();

/**
 * The function returns true if the system is currently connected to the robot.
 * @returns {boolean} - Returns true if the system is currently connected to the robot.
 */
robotConnected();

/**
 * The function returns the name of the running flow, if one exists.
 * @returns {string} - Returns the name of the running flow, if one exists.
 */
getRunningFlow();

/**
 * The function returns true if the robot is in gravity compensation mode.
 * @returns {boolean} - Returns true if the robot is in gravity compensation mode.
 */
isGCom();

/**
 * The function returns true if the robot is in stop mode.
 * @returns {boolean} - Returns true if the robot is in stop mode.
 */
isStopped();

/**
 * The function returns a promise which resolves, if access to the robot is available and the robot is then
 * occupied. When the robot is occupied it can not be accessed.
 * @param {boolean} name - The name of the current flow which requires to get access.
 * @returns {Promise<EventEmitter>} - Returns a promise, which resolves when access to the robot is given.
 * Through the EventEmitter access can be released again.
 */
getAccess(name);

/**
 * The function releases access from the robot and sets the robot idle.
 * @param {boolean} name - The name of the current flow which requires to get access.
 * @returns {Promise<EventEmitter>} - Returns a promise, which resolves when access to the robot is given.
 * Through the EventEmitter access can be released again.
 */
releaseAccess(resolveId);

/**
 * The function takes in a function which will be called with the robot inputs as a parameter if the robot
 * inputs change.
 * @param {Function} callback - The function which will be called with the robot inputs as a parameter if the
 * robot inputs change.
 */
subscribeInputChanges(callback);

/**
 * The function modifies the overall possible velocity and acceleration of the robot.
 * @param {Function} velocity - The overall possible velocity of the robot. 0 equals 0% of the maximum velocity
 * and 255 equals 100% of it.
 * @param {Function} acceleration - The overall possible acceleration of the robot. 0 equals 0% of the maximum
 * acceleration and 255 equals 100% of it.
 */
modGlobalSpeed(velocity, acceleration);

/**
 * Sends the robot a command specific to its custom interface.
 * @param {Array|Buffer} message - The address of the robot output.
 * @returns {Promise} - Returns a promise, which resolves when the command has been send.
 */
sendCommand(message);