TOnMonitoringStateCB
Features
This is a callback function for checking changes in operation state information in the robot controller. As the callback function is executed automatically in the case of a specific event, a code that requires an excessive execution time (within 50msec) within the callback function should not be made.
Parameter
Parameter Name | Data Type | Default Value | Description |
---|---|---|---|
eState | enum.ROBOT_STATE | - | Refer to the Definition of Constant and Enumeration Type |
Return
None
Example
void OnMonitoringStateCB(const ROBOT_STATE eState)
{
switch((unsigned char)eState)
{
case STATE_SAFE_OFF:
// Robot controller servo on
drfl.set_robot_control(CONTROL_RESET_SAFET_OFF);
break;
default:
break;
}
}
int main()
{
drfl.set_on_monitoring_state(OnMonitoringStateCB);
}