Arduino_getPosition

Supported by xArm

Gets the position(s) of the specified servo(s). There are three forms.

• Get position by servo_id
• Get position by xArmServo struct
• Get position by array of xArmServo struct

Get position by servo_id

int getPosition(int servo_id);

Gets the position of one servo specified by servo_id.

Parameters:

• servo_id: The ID number (1 - 6) of the servo.

Returns:

• The current position of the servo (0 - 1000).
• If the position cannot be read, it will return -1;

Get position by xArmServo struct

int getPosition(xArmServo &servo);

Gets the position of one servo specified by xArmServo servo object. The position is returned by the funtion and also stored in the servo object.

Parameters:

• servo: The xArmServo object specifying the servo.

Returns:

• The current position of the servo.
• The position is also stored in the xArmServo object position property.
• If the position cannot be read, it will return and store -1;

Get position by array of xArmServo struct

bool getPosition(xArmServo servos[], int count);

Gets the position of one or more servos specified by an array of xArmServo servo object. Success is returned by returned the funtion. Positions of each servo is stored in each servo object in the array.

Parameters:

• servos[]: An array of one or more xArmServo objects specifying the servos.
• count: The number of xArmServo objects in the array.

Returns:

• False if the position cannot be read.
• The position of each servo is stored in the respective xArmServo object in the array.