"Lighting" button

xArm/850 Troubleshooting
1

Hello,
in the documentation you write regarding the little button on the end effector mount:

In fact, this is a button with an aperture around the button. The function of this button has not been defined yet, so it has no practical significance. We will develop and define the function of this button in subsequent version iterations

Is there a way to get feedback via the C++ SDK when the button is pressed/released? It would be nice to implement custom functionality for it this way…

Thanks!

2

Hi Smiletronic,

Please update to the latest C++ SDK, and use get_tgpio_digital to get the value of TI2, TI2 is the end button, and the value should be switched to 1 when pressed.

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Best regards,
Minna

3

Thank you, but I do not want to poll this all the time. Looking at XArmReportData the cgpio_input_digitals is only an array of length 2 for TI0 and TI1.
Is there a way to get the TI2 state via callback? It works in the web interface, so I guess it’s just a matter of exposing it in the SDK somehow?

4

Hi Smiletronic,

cgpio_input_digitals is used for controller digital input not tool digital, it represents CI and DI, not TI0 and TI1.
Currently, TI can’t be getting by the data report, please use get_tgpio_digital.

Best regards,
Minna