Motion control

The motion control service provides functions of the API's calling to control the device to perform various motions. As the motion control service agent, MotionManager provides the main API of the motion control service, which can be obtained through the RobotContext object.

MotionManager motionManager = aRobotContext.getSystemService(MotionManager.SERVICE);

Get the status of current motion.

Normally, the device only has two statuses, one is the reset status (RESET) and the other is the performing status (PERFORMING_ACTION)

Posture /* [1] */ posture = motionManager.getPosture();

[1]Posture parameter description

Attribute getter	Descriptions
Posture.name	Motion name
Posture.description	Motion description

The following constants are only used to compare the current status of the device.

Constants	Descriptions
Posture.RESET	Reset status
Posture.PERFORMING_ACTION	Perform motion status

Control device's motion

Under normal circumstances, some devices will create a series of preset actions tailored for themselves, such as applause, handshake, salute, etc. Through motion control services, users can directly call these preset motions. When using it you can choose to perform one or more motions serially. The usage methods will be introduced one by one below.

Perform a specific motion using Uri. Use the following code to make the device perform a “hug” motion.

Uri actionUri = Uri.parse("action://ubtrobot/hug"); /* [2] */
promise /* [1] */ = motionManager.performAction(actionUri)
    .progress(new ProgressCallback<PerformingProgress>() {
        @Override
        public void onProgress(PerformingProgress/* [3] */ performingProgress) {
            // There will be multiple callbacks during the performance of the motion
        }
    })
    .done(new DoneCallback<Void>() {
        @Override
        public void onDone(Void aVoid) {
            // Motion performance completed
        }
    })
    .fail(new FailCallback<PerformingException>() {
        @Override
        public void onFail(PerformingException e) {
            // Motion performance failed
        }
    });

[1]Return the asynchronous object that performs the movement operation, fetches the result and cancels the processing through this object. See Promise for specific usage.

[2]Uri of the motion

[3] The PerformingProgress object of theasynchronous callback describes the progress information of the device movement, including:

Constants	Descriptions
PerformingProgress.PROGRESS_BEGAN	Start of motion execution
PerformingProgress.PROGRESS_ENDED	End of motion execution

Perform a specific motion in accordance with the parameters. Use the following code to make it execute the “goodbye” motion three times at an interval of three seconds.

Uri uri = Uri.parse("action://ubtrobot/goodbye"); 
PerformingOption/* [1] */ option = new PerformingOption.Builder(uri)
    .setLoops(3)
    .setOffsetTime(3000)
    .build();
promise = motionManager.performAction(option);

[1] The PerformingOption object is constructed by PerformingOption.Builder, the construction parameters are described as follows:

Methods	Type	Descriptions	Default value
Builder.constructor(Uri)	Uri	Uri of the motion	NULL
Builder.setLoops(loop)	int	Number of repetitions	1
Builder.setOffsetTime(offsetTime)	float	Interval of execution	0
Builder.setSpeed(speed)	float	Speed of execution	0

Perform multiple motions serially Use the following two methods to perform this action. First perform a "hug" motion, and then take three seconds as the interval.

Uri hugUri = Uri.parse("action://ubtrobot/goodbye"); 
PerformingOption option1 = new PerformingOption.Builder(hugUri)
    .setLoops(1)
    .build();

Uri goodbyeUri = Uri.parse("action://ubtrobot/goodbye"); 
PerformingOption option2 = new PerformingOption.Builder(goodbyeUri)
    .setLoops(3)
    .setOffsetTime(3000)
    .build();

// Method one
promise = motionManager.performActionSerially(option1, option2);

// Method two
ArrayList<PerformingOption> optionList = new ArrayList<>();
optionList.add(option1);
optionList.add(option2);
promise = motionManager.performActionSerially(optionList);

Determine if the device is currently performing the motion

motionManager.isPerformingAction();

List of motions

Motion name	ID
applause	applause
celebrate	celebrate
goodbye	goodbye
nod	nod
hug	hug
shake hand	shankhand
Go right	guideright
Go left	guideleft
Swing arm	swingarm
Search around	searching
Gaze	tiaowang
surprise	surprise
shy	shy
Grow tall	zhanggao
daze	fadai
Chit-chat Talk1-talk24	talk1
	talk2
	talk3
	talk4
	talk5
	talk6
	talk7
	talk8
	talk9
	talk10
	talk11
	talk12
	talk13
	talk14
	talk15
	talk16
	talk17
	talk18
	talk19
	talk20
	talk21
	talk22
	talk23
	talk24