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lib/bb/ufactory/registers.ex
# SPDX-FileCopyrightText: 2026 Holden Oullette
#
# SPDX-License-Identifier: Apache-2.0
defmodule BB.Ufactory.Registers do
@moduledoc """
Register address constants for the UFactory xArm Modbus-TCP protocol.
All values are sourced from `UxbusReg` in the xArm Python SDK
(`xarm/core/config/x_config.py`) and the xArm Developer Manual V1.10.0.
Use these constants in `BB.Ufactory.Protocol` command builders rather than
hard-coding raw integers.
"""
# ── Primary registers (fully documented public API) ────────────────────────
@doc "MOTION_EN — enable/disable joint motion; axis_id `0x08` = all joints"
@spec motion_en() :: non_neg_integer()
def motion_en, do: 0x0B
@doc "SET_STATE — arm state; 0 = stop/clear motion, 3 = play, 4 = pause"
@spec set_state() :: non_neg_integer()
def set_state, do: 0x0C
@doc "GET_STATE — read current arm state"
@spec get_state() :: non_neg_integer()
def get_state, do: 0x0D
@doc "GET_CMDNUM — queued command count"
@spec get_cmdnum() :: non_neg_integer()
def get_cmdnum, do: 0x0E
@doc "GET_ERROR — read error and warning codes"
@spec get_error() :: non_neg_integer()
def get_error, do: 0x0F
@doc "CLEAN_ERR — clear the current error code"
@spec clean_err() :: non_neg_integer()
def clean_err, do: 0x10
@doc "CLEAN_WAR — clear the current warning code"
@spec clean_war() :: non_neg_integer()
def clean_war, do: 0x11
@doc "MOVE_LINE — Cartesian linear motion (register 0x15, decimal 21). NOT arc blending."
@spec move_cart() :: non_neg_integer()
def move_cart, do: 0x15
@doc "MOVE_JOINT — joint-space P2P motion"
@spec move_joints() :: non_neg_integer()
def move_joints, do: 0x17
@doc """
MOVE_LINE_AA — Cartesian linear motion with axis-angle orientation
(register 0x5C, decimal 92). NOT arc blending — for blended moves use
`move_lineb/0` (0x16) or `move_jointb/0` (0x18).
"""
@spec move_line_aa() :: non_neg_integer()
def move_line_aa, do: 0x5C
@doc "GET_TCP_POSE — read current Cartesian end-effector pose"
@spec get_tcp_pose() :: non_neg_integer()
def get_tcp_pose, do: 0x29
@doc "GET_JOINTS — read current joint angles in radians"
@spec get_joints() :: non_neg_integer()
def get_joints, do: 0x2A
@doc "RS485_RTU proxy — gripper, linear track, and other accessories"
@spec rs485_rtu() :: non_neg_integer()
def rs485_rtu, do: 0x7C
@doc "FTSENSOR_GET_DATA — read 6× fp32 LE [Fx, Fy, Fz, Tx, Ty, Tz]"
@spec ft_get_data() :: non_neg_integer()
def ft_get_data, do: 0xC8
@doc "FTSENSOR_ENABLE — 1× u8 (0 or 1)"
@spec ft_enable() :: non_neg_integer()
def ft_enable, do: 0xC9
@doc "RELOAD_DYNAMICS — reload dynamics model"
@spec reload_dynamics() :: non_neg_integer()
def reload_dynamics, do: 0x04
@doc "MOVE_HOME — move to home position"
@spec move_home() :: non_neg_integer()
def move_home, do: 0x19
@doc "SET_MODE — arm mode; 0 = position mode, 1 = servo mode"
@spec set_mode() :: non_neg_integer()
def set_mode, do: 0x13
@doc "GET_VERSION — firmware version string"
@spec get_version() :: non_neg_integer()
def get_version, do: 0x01
@doc "GET_ROBOT_SN — robot serial number"
@spec get_robot_sn() :: non_neg_integer()
def get_robot_sn, do: 0x02
# ── Secondary registers ────────────────────────────────────────────────────
# These match the SDK register map (UxbusReg) and are exposed for completeness.
# Use the primary functions above for the most common operations.
for {name, value} <- [
check_verify: 0x03,
system_control: 0x0A,
set_brake: 0x12,
move_lineb: 0x16,
move_jointb: 0x18,
sleep_instt: 0x1A,
move_circle: 0x1B,
move_line_tool: 0x1C,
move_servoj: 0x1D,
move_servo_cart: 0x1E,
set_tcp_jerk: 0x1F,
set_tcp_maxacc: 0x20,
set_joint_jerk: 0x21,
set_joint_maxacc: 0x22,
set_tcp_offset: 0x23,
set_load_param: 0x24,
set_collis_sens: 0x25,
set_teach_sens: 0x26,
clean_conf: 0x27,
save_conf: 0x28,
get_ik: 0x2B,
get_fk: 0x2C,
joint_limit_check: 0x2D,
tcp_limit_check: 0x2E,
set_reduced_trsv: 0x2F,
set_reduced_p2pv: 0x30,
get_reduced_mode: 0x31,
set_reduced_mode: 0x32,
set_gravity_dir: 0x33,
set_limit_xyz: 0x34,
get_reduced_state: 0x35,
get_joint_tau: 0x37,
set_safe_level: 0x38,
get_safe_level: 0x39,
set_reduced_jrange: 0x3A,
set_fense_on: 0x3B,
set_collis_reb: 0x3C,
set_traj_record: 0x3D,
save_traj: 0x3E,
load_traj: 0x3F,
play_traj: 0x40,
get_traj_rw_status: 0x41,
set_allow_approx_motion: 0x42,
get_dh: 0x43,
set_dh: 0x44,
get_movement: 0x45,
report_tau_or_i: 0x46,
set_timer: 0x47,
cancel_timer: 0x48,
set_world_offset: 0x49,
cnter_reset: 0x4A,
cnter_plus: 0x4B,
cal_pose_offset: 0x4C,
set_self_collis_check: 0x4D,
set_collis_tool: 0x4E,
set_simulation_robot: 0x4F,
set_cartv_continue: 0x50,
vc_set_jointv: 0x51,
vc_set_cartv: 0x52,
move_relative: 0x53,
get_tcp_pose_aa: 0x5B,
move_servo_cart_aa: 0x5D,
servo_w16b: 0x65,
servo_r16b: 0x66,
servo_w32b: 0x67,
servo_r32b: 0x68,
servo_zero: 0x69,
servo_dbmsg: 0x6A,
servo_error: 0x6B,
cali_tcp_pose: 0x6F,
cali_tcp_orient: 0x70,
cali_wrld_orient: 0x71,
cali_wrld_pose: 0x72,
iden_fric: 0x73,
tgpio_mb_tiout: 0x7B,
tgpio_err: 0x7D,
tgpio_w16b: 0x7F,
tgpio_r16b: 0x80,
tgpio_w32b: 0x81,
tgpio_r32b: 0x82,
cgpio_get_digit: 0x83,
cgpio_get_analog1: 0x84,
cgpio_get_analog2: 0x85,
cgpio_set_digit: 0x86,
cgpio_set_analog1: 0x87,
cgpio_set_analog2: 0x88,
cgpio_set_in_fun: 0x89,
cgpio_set_out_fun: 0x8A,
cgpio_get_state: 0x8B,
get_pwr_version: 0x8C,
get_hd_types: 0x8D,
delayed_cgpio_set: 0x8E,
delayed_tgpio_set: 0x8F,
position_cgpio_set: 0x90,
position_tgpio_set: 0x91,
set_io_stop_reset: 0x92,
position_cgpio_set_analog: 0x93,
ft_get_data_old: 0x96,
ft_set_mode: 0xCA,
ft_get_mode: 0xCB,
iden_load: 0xCC,
ft_set_load_offset: 0xCD,
ft_set_zero: 0xCE,
admittance_config: 0xCF,
force_ctrl_pid: 0xD0,
force_ctrl_config: 0xD1,
admittance_ctrl_mkb: 0xD2,
admittance_ctrl_config: 0xD3,
ft_get_config: 0xD4,
get_traj_speeding: 0xE6,
get_max_joint_velocity: 0xE7,
set_common_param: 0xE8,
get_common_param: 0xE9,
get_common_info: 0xEA,
tgpio_com_tiout: 0xF0,
rs485_agent: 0xF1,
feedback_check: 0xFD,
set_feedback_type: 0xFE
] do
@doc false
@spec unquote(name)() :: non_neg_integer()
def unquote(name)(), do: unquote(value)
end
end