├── .gitattributes ├── .gitignore ├── LICENSE ├── Makefile ├── ReadMe.md ├── ReleaseNotes.md ├── demo └── csharp_studio │ ├── csharp_studio.sln │ ├── xarm │ ├── RCa02900 │ ├── xarm.vcxproj │ ├── xarm.vcxproj.filters │ ├── xarm_wrapper.cc │ └── xarm_wrapper.h │ └── xarm_csharp_demo │ ├── App.config │ ├── Program.cs │ ├── Properties │ └── AssemblyInfo.cs │ ├── XArmAPI.cs │ ├── XArmWrapperAPI.cs │ └── xarm_csharp_demo.csproj ├── doc ├── UF_ModbusTCP_Manual.md ├── img │ ├── image-20191217152542587.png │ ├── image-20191217153415733.png │ ├── image-20191217154111439.png │ ├── image-20191217154258804.png │ ├── image-20191217155932743.png │ └── image-20191217160911893.png ├── xarm_api_code.md └── xarm_cplus_api.md ├── example ├── 0001-event_register.cc ├── 0002-get_property.cc ├── 0003-api_get.cc ├── 0004-servo_attach_detach.cc ├── 1001-move_line.cc ├── 1004-move_arc_line.cc ├── 1006-move_tool_line.cc ├── 1007-counter.cc ├── 1008-move_line_aa.cc ├── 10086-cali_offset.cc ├── 1009-cartesian_velocity_control.cc ├── 2000-joint_velocity_control.cc ├── 2001-move_joint.cc ├── 3001-move_circle.cc ├── 3002-record_trajectory.cc ├── 3003-playback_trajectory.cc ├── 3004-get_report_data.cc ├── 3005-task_feedback.cc ├── 3006-standard_modbus_tcp.cc ├── 5000-set_tgpio_modbus.cc ├── 5001-get_tgpio_digital.cc ├── 5002-get_tgpio_analog.cc ├── 5003-set_tgpio_digital.cc ├── 5004-set_gripper.cc ├── 5005-get_cgpio_digital_analog.cc ├── 5006-set_cgpio_digital_analog.cc ├── 5008-get_cgpio_state.cc ├── 5009-set_bio_gripper.cc ├── 6001-set_reduced_mode.cc ├── 6002-set_fense_mode.cc ├── 7001-servo_j.cc ├── 7002-servo_cartesian.cc ├── 7003-servo_cartesian_aa.cc ├── 8000-load_identify_current.cc ├── 8001-force_tech.cc ├── 8002-admittance_control.cc ├── 8003-force_control.cc ├── 8004-load_identify.cc ├── 8005-read_force_data.cc ├── 8006-save_force_zero.cc ├── 8010-get_ft_sensor_config.cc ├── 9000-set_linear_motor.cc ├── thirdparty-set_robotiq_gripper.cc └── thirdparty-set_yinshi_gripper.cc ├── include ├── serial │ ├── impl │ │ ├── unix.h │ │ └── win.h │ ├── serial.h │ └── v8stdint.h └── xarm │ ├── core │ ├── common │ │ ├── crc16.h │ │ ├── data_type.h │ │ └── queue_memcpy.h │ ├── connect.h │ ├── debug │ │ └── debug_print.h │ ├── instruction │ │ ├── servo3_config.h │ │ ├── uxbus_cmd.h │ │ ├── uxbus_cmd_config.h │ │ ├── uxbus_cmd_ser.h │ │ └── uxbus_cmd_tcp.h │ ├── os │ │ ├── bak │ │ │ └── thread.h │ │ └── network.h │ ├── port │ │ ├── ser.h │ │ └── socket.h │ ├── report_data.h │ └── xarm_config.h │ └── wrapper │ ├── common │ ├── timer.h │ └── utils.h │ └── xarm_api.h ├── src ├── serial │ ├── impl │ │ ├── list_ports │ │ │ ├── list_ports_linux.cc │ │ │ ├── list_ports_osx.cc │ │ │ └── list_ports_win.cc │ │ ├── unix.cc │ │ └── win.cc │ └── serial.cc └── xarm │ ├── core │ ├── common │ │ ├── crc16.cc │ │ └── queue_memcpy.cc │ ├── connect.cc │ ├── debug │ │ └── debug_print.cc │ ├── instruction │ │ ├── uxbus_cmd.cc │ │ ├── uxbus_cmd_ser.cc │ │ └── uxbus_cmd_tcp.cc │ ├── os │ │ ├── bak │ │ │ ├── network_new.cc │ │ │ ├── network_old.cc │ │ │ └── thread.cc │ │ └── network.cc │ ├── port │ │ ├── ser.cc │ │ └── socket.cc │ └── report_data.cc │ └── wrapper │ ├── xarm_api.cc │ ├── xarm_bio.cc │ ├── xarm_events.cc │ ├── xarm_ft_sensor.cc │ ├── xarm_gpio.cc │ ├── xarm_gripper.cc │ ├── xarm_linear_motor.cc │ ├── xarm_modbus_tcp.cc │ ├── xarm_motion.cc │ ├── xarm_params.cc │ ├── xarm_record.cc │ ├── xarm_report.cc │ ├── xarm_robotiq.cc │ └── xarm_servo.cc └── visual_studio ├── 0001-event_register ├── 0001-event_register.vcxproj └── 0001-event_register.vcxproj.filters ├── 0002-get_property ├── 0002-get_property.vcxproj └── 0002-get_property.vcxproj.filters ├── 0003-api_get ├── 0003-api_get.vcxproj └── 0003-api_get.vcxproj.filters ├── 0004-servo_attach_detach ├── 0004-servo_attach_detach.vcxproj └── 0004-servo_attach_detach.vcxproj.filters ├── 1001-move_line ├── 1001-move_line.vcxproj └── 1001-move_line.vcxproj.filters ├── 1004-move_arc_line ├── 1004-move_arc_line.vcxproj └── 1004-move_arc_line.vcxproj.filters ├── 1006-move_tool_line ├── 1006-move_tool_line.vcxproj └── 1006-move_tool_line.vcxproj.filters ├── 1007-counter ├── 1007-counter.vcxproj └── 1007-counter.vcxproj.filters ├── 1008-move_line_aa ├── 1008-move_line_aa.vcxproj └── 1008-move_line_aa.vcxproj.filters ├── 1009-cartesian_velocity_control ├── 1009-cartesian_velocity_control.vcxproj └── 1009-cartesian_velocity_control.vcxproj.filters ├── 2000-joint_velocity_control ├── 2000-joint_velocity_control.vcxproj └── 2000-joint_velocity_control.vcxproj.filters ├── 2001-move_joint ├── 2001-move_joint.vcxproj └── 2001-move_joint.vcxproj.filters ├── 3001-move_circle ├── 3001-move_circle.vcxproj └── 3001-move_circle.vcxproj.filters ├── 3002-record_trajectory ├── 3002-record_trajectory.vcxproj └── 3002-record_trajectory.vcxproj.filters ├── 3003-playback_trajectory ├── 3003-playback_trajectory.vcxproj └── 3003-playback_trajectory.vcxproj.filters ├── 3004-get_report_data ├── 3004-get_report_data.vcxproj └── 3004-get_report_data.vcxproj.filters ├── 3005-task_feedback ├── 3005-task_feedback.vcxproj └── 3005-task_feedback.vcxproj.filters ├── 3006-standard_modbus_tcp ├── 3006-standard_modbus_tcp.vcxproj └── 3006-standard_modbus_tcp.vcxproj.filters ├── 5000-set_tgpio_modbus ├── 5000-set_tgpio_modbus.vcxproj └── 5000-set_tgpio_modbus.vcxproj.filters ├── 5001-get_tgpio_digital ├── 5001-get_tgpio_digital.vcxproj └── 5001-get_tgpio_digital.vcxproj.filters ├── 5002-get_tgpio_analog ├── 5002-get_tgpio_analog.vcxproj └── 5002-get_tgpio_analog.vcxproj.filters ├── 5003-set_tgpio_digital ├── 5003-set_tgpio_digital.vcxproj └── 5003-set_tgpio_digital.vcxproj.filters ├── 5004-set_gripper ├── 5004-set_gripper.vcxproj └── 5004-set_gripper.vcxproj.filters ├── 5005-get_cgpio_digital_analog ├── 5005-get_cgpio_digital_analog.vcxproj └── 5005-get_cgpio_digital_analog.vcxproj.filters ├── 5006-set_cgpio_digital_analog ├── 5006-set_cgpio_digital_analog.vcxproj └── 5006-set_cgpio_digital_analog.vcxproj.filters ├── 5008-get_cgpio_state ├── 5008-get_cgpio_state.vcxproj └── 5008-get_cgpio_state.vcxproj.filters ├── 5009-set_bio_gripper ├── 5009-set_bio_gripper.vcxproj └── 5009-set_bio_gripper.vcxproj.filters ├── 6001-set_reduced_mode ├── 6001-set_reduced_mode.vcxproj └── 6001-set_reduced_mode.vcxproj.filters ├── 6002-set_fense_mode ├── 6002-set_fense_mode.vcxproj └── 6002-set_fense_mode.vcxproj.filters ├── 7001-servo_j ├── 7001-servo_j.vcxproj └── 7001-servo_j.vcxproj.filters ├── 7002-servo_cartesian ├── 7002-servo_cartesian.vcxproj └── 7002-servo_cartesian.vcxproj.filters ├── 7003-servo_cartesian_aa ├── 7003-servo_cartesian_aa.vcxproj └── 7003-servo_cartesian_aa.vcxproj.filters ├── 8000-load_identify_current ├── 8000-load_identify_current.vcxproj └── 8000-load_identify_current.vcxproj.filters ├── 8001-force_tech ├── 8001-force_tech.vcxproj └── 8001-force_tech.vcxproj.filters ├── 8002-admittance_control ├── 8002-admittance_control.filters └── 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