移动双臂 · 升降台与底盘

3.6.11 获取升降台状态（仅适用于移动版双臂）

3.6.11.1 请求：request_lifter_state

  {
    "accid": "DACH_TRON2A_001",
    "title": "request_lifter_state",
    "guid": "6f5d2f3c27ac4ef89a4f2c31e8b7f402",
    "timestamp": 1762771201000,
    "data": {}
  }

3.6.11.2 响应：response_lifter_state

  {
    "accid": "DACH_TRON2A_001",
    "title": "response_lifter_state",
    "guid": "6f5d2f3c27ac4ef89a4f2c31e8b7f402",
    "timestamp": 1762771201000,
    "data": {
      "result": "success",
      "q": [0.12],
      "v": [0.00]
    }
  }

3.6.12 升降台绝对位置控制（仅适用于移动版双臂）

3.6.12.1 请求：request_set_lifter_position

  { 
  "accid": "DACH_TRON2A_001", 
  "title": "request_set_lifter_position", 
  "guid": "8b9d7caa48d44b9b9e0d6b2f2b30a101", 
  "timestamp": 1762771300000,
    "data": { 
    "position": 200.5,     //目标位置，单位 mm
    "duration": 2000      //到达时间，单位 ms，整数；绝对位置控制允许 0，表示最快速度到达
     } 
  }

3.6.12.2 响应:response_set_lifter_position

{ 
"accid": "DACH_TRON2A_001",
 "title": "response_set_lifter_position", 
 "guid": "8b9d7caa48d44b9b9e0d6b2f2b30a101",
  "timestamp": 1762771300000,
   "data": {
    "result": "success" 
    } 
}

3.6.13 升降台速度控制（仅适用于移动版双臂）

3.6.13.1 请求：request_set_lifter_velocity

{ 
"accid": "DACH_TRON2A_001", 
"title": "request_set_lifter_velocity", 
"guid": "8b9d7caa48d44b9b9e0d6b2f2b30a101", 
"timestamp": 1762771300000,
  "data": { 
  "velocity": 50,    //升降台速度，单位 mm/s，有符号，正数/负数分别表示不同方向
  "duration": 2000    //速度控制持续时间，单位 ms，整数，必须 > 0
   }
}

3.6.13.2 响应:response_set_lifter_velocity

{ "accid": "DACH_TRON2A_001",
 "title": "response_set_lifter_velocity",
  "guid": "8b9d7caa48d44b9b9e0d6b2f2b30a101",
   "timestamp": 1762771300000,
    "data": { 
    "result": "success"
     }
}

3.6.14 查询升降台当前位置（仅适用于移动版双臂）

3.6.14.1 请求：request_get_lifter_position

{ 
"accid": "DACH_TRON2A_001",
 "title": "request_get_lifter_position", 
 "guid": "8b9d7caa48d44b9b9e0d6b2f2b30a101", 
 "timestamp": 1762771300000, 
 "data": {
 } 
}

3.6.14.2 响应:response_get_lifter_position

{ "accid": "DACH_TRON2A_001", 
"title": "response_get_lifter_position", 
"guid": "...",
 "timestamp": 1762771300000,
  "data": { 
  "result": "success", 
  "position": 200.3, 
  "q": -254.4, 
  "q_per_mm": 0.6224, 
  "timestamp": 1762771300000 
  } 
}

3.6.15 获取底盘状态（仅适用于移动版双臂）

3.6.15.1 请求：request_chassis_state

  {   
    "accid": "DACH_TRON2A_001",
    "title": "request_chassis_state",
    "guid": "b6d6f4d2-6f0f-4f0b-8d8e-8f2f3a5a1c01",
    "timestamp": 1762771200000,
    "data": {}
  }

3.6.15.2 响应:response_chassis_state

   {
    "accid": "DACH_TRON2A_001",
    "title": "response_chassis_state",
    "guid": "b6d6f4d2-6f0f-4f0b-8d8e-8f2f3a5a1c01",
    "timestamp": 1762771200000,
    "data": {
      "result": "success",
      "data": [0.25, -0.10, 0.03]  //inear_velocity,angular_velocity,steering_angle;
    }
  }

3.6.16 设置底盘运动模式（仅适用于移动版双臂）

3.6.16.1 请求：request_set_chassis_mode

{
  "accid": "DACH_TRON2A_001", // 机器人序列号，注意修为您机器人的序列号；
  "title": "request_set_chassis_mode",
  "timestamp": 1672373633989,
  "guid": "746d937cd8094f6a98c9577aaf213d98",
  "data": {
    "move_mode": "ackerman"  //ackerman,parallel,park,spinning,emergency_stop
  }
}

3.6.16.2 响应：response_set_chassis_mode

{
  "accid": "DACH_TRON2A_001",
  "title": "response_set_chassis_mode",
  "timestamp": 1672373633989,
  "guid": "746d937cd8094f6a98c9577aaf213d98",
  "data": {
    "result": "success"  // success: 成功
  }
}

3.6.17 控制底盘运动（仅适用于移动版双臂）

3.6.17.1 请求：request_chassis_move

{
  "accid": "DACH_TRON2A_001", // 机器人序列号，注意修为您机器人的序列号；
  "title": "request_chassis_move",
  "timestamp": 1672373633989,
  "guid": "746d937cd8094f6a98c9577aaf213d98",
  "data": {
    "x": 0.3,  //速度值，范围-1到1
    "y": 0.0,  //速度值，范围-1到1
    "yaw": 0.0   //转弯角速度，范围-1到1
  }
}

3.6.17.2 响应：response_chassis_move

{
  "accid": "DACH_TRON2A_001",
  "title": "response_chassis_move",
  "timestamp": 1672373633989,
  "guid": "746d937cd8094f6a98c9577aaf213d98",
  "data": {
    "result": "success"  // success: 成功, fail_imu: IMU 错误, fail_motor: 电机错误
  }
}