| CONTROL_MODULE_NONE |
No control module selected. The robotical arm cannot moves.
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| CONTROL_MODULE_ANGULAR_VELOCITY |
Angular velocity control mode. Values sent to the actuators are velocity. Unit: degree / second.
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| CONTROL_MODULE_ANGULAR_POSITION |
Angular position control mode. Values sent to the actuators are position. Unit: degree.
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| CONTROL_MODULE_CARTESIAN_VELOCITY |
Cartesian velocity control mode. values sent to the end effector are velocity. translation Unit: meter / second, orientation unit: RAD / second.
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| CONTROL_MODULE_CARTESIAN_POSITION |
Cartesian position control mode. values sent to the actuators are velocity. translation Unit: meter, orientation unit: RAD.
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| CONTROL_MODULE_RETRACT |
Retract control mode. This manage movement between the READY(HOME) and the RETRACTED position. This can be angular or cartesian position control.
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| CONTROL_MODULE_TRAJECTORY |
Not used for now.
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| CONTROL_MODULE_PREDEFINED |
This manages the pre programmed position(GOTO). This is position control.
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| CONTROL_MODULE_TIMEDELAY |
This manages the time delay during a trajectory.
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