5. Tool Hand Calibration

1. Set the Tool Hand Number to be Calibrated

int toolNum = 3;   // Tool hand number
set_tool_hand_number(fd, 1);

2. After Moving the Robot Arm to the Calibration Point, Mark the Point

tool_hand_7_point_calibrate(fd, i, toolNum);

// i is the marked point index. In 7-point calibration, i ranges from [1, 7]

3. After All 7 Points are Marked, Calculate the Calibration Result

tool_hand_7_point_calibrate_caculate(fd, toolNum, 7);

7-Point Calibration Example:

  int toolNum = 3;   // Tool hand number
  set_tool_hand_number(fd, toolNum);
  for(int i = 1; i < 8; i++)
  {
    sleep(5);   // Wait for the robot arm to move to the calibration point
    tool_hand_7_point_calibrate(fd, i, toolNum);
    printf("Calibrating point %d\n", i);
  }
  // After all points are marked, calculate the calibration result
  tool_hand_7_point_calibrate_caculate(fd, toolNum, 7);

20-Point Calibration Example:

  int toolNum = 4;   // Tool hand number
  set_tool_hand_number(fd, toolNum);
  for(int i = 1; i < 21; i++)
  {
    sleep(3);   // Wait for the robot arm to move to the calibration point
    tool_hand_2_or_20_point_calibrate(fd, i);
    printf("Calibrating point %d\n", i);
  }
  // After all points are marked, calculate the calibration result
  tool_hand_2_or_20_point_calibrate_caculate(fd, toolNum, false);