Motion Routes

API reference for the "/direct-control" endpoint.

For all headers refer to Overview --> Headers

Configure Motion Request

The purpose of this request is to configure the AXIBO axis.

Endpoint

PUT http://<axibo-ip>:2200/v1/direct-control/config

Body Properties

Property	Type	Required	Description
tilt, pan, slide, focus, zoom	string	Yes	The axis that will have their configuration set.
accel	int	No	Sets the axis acceleration.
current	int	No	Sets the current that is being supplied to the axis.
maxPos	int	Yes	Sets the maximum position of the set axis.
minPos	int	Yes	Sets the minimum position of the set axis.
maxVel	int	Yes	Sets the maximum velocity of the set axis.
speed	int	Yes	Sets the speed of the axis.

Example (PUT)

{
    "slide": {
        "accel": 1,
        "current": 12,
        "maxPos": 150,
        "maxVel": 40,
        "minPos": -150,
        "speed": 10
    },
    "pan": {
        "accel": 1,
        "current": 10,
        "maxPos": 100,
        "maxVel": 40,
        "minPos": -100,
        "speed": 8
    }
}

Motors Homing Request

The purpose of this request is to configure the AXIBO axis for homing.

Endpoint

PUT http://<axibo-ip>:2200/v1/direct-control/home

Body Properties

Property	Type	Required	Description
tilt, pan, slide, focus, zoom	string	Yes	The axis that will have their configuration set.
direction
homingSpeed	int	Yes	Set the homing speed of the axis.
maxPos	int	Yes	Set the max position the axis will home too.
minPos	int	Yes	Set the min position the axis will home too.
useTorque	int	No	Select if the axis is in high speed or high torque mode for homing.

Example (PUT)

{
  "pan": {
    "direction": 0,
    "homingSpeed": 40,
    "maxPos": 10,
    "minPos": -10,
    "useTorque": 0
  },
  "tilt": {
    "direction": 0,
    "homingSpeed": 40,
    "maxPos": 10,
    "minPos": -10,
    "useTorque": 0
  },
  "slide": {
    "direction": 0,
    "homingSpeed": 10
  }
}

Switch Modes Request

The purpose of this request is to switch the operating mode of the AXIBO axis.

Endpoint

PUT http://<axibo-ip>:2200/v1/direct-control/switch-mode

Body Properties

Property	Type	Required	Description
mode	string	Yes	Sets the axis to either be in "highspeed" or "hightorque" mode

Example (PUT)

{
    "mode":"highspeed"
}

Packet Confirmation Request

The purpose of this request is to set the packet confirmation of the AXIBO.

Endpoint

PUT http://<axibo-ip>:2200/v1/direct-control/packet-confirmation

Body Properties

Property	Type	Required	Description
mode	int	Yes

Example (PUT)

{
    "mode": 1
}

Move Absolute Request

The purpose of this request is to set the speed and position as well as move the AXIBO absolutely.

Endpoint

PUT http://{axibo-ip}:2200/v1/direct-control/move-absolute

Body Properties

Property	Type	Required	Description
tilt, pan, slide, focus, zoom	Array<Position, Speed>	Yes	Set the how far and how fast the AXIBO will move from its absolute axis.

Example (PUT)

{ 
    "tilt":[0,5],
    "pan":[0,5], 
    "slide":[0,5]
}

Move Relative Request

The purpose of this request is to set the speed and position as well as move the AXIBO relatively.

Endpoint

PUT http://<axibo-ip>:2200/v1/direct-control/move-relative

Body Properties

Property	Type	Required	Description
tilt, pan, slide, focus, zoom	Array<Position, Speed>	Yes	Set the how far and how fast the AXIBO will move from its relative axis.

Example (PUT)

{ 
    "tilt":[0,5],
    "zoom":[0,5], 
    "focus":[0,5]
}

Trigger Control Request

The purpose of this request is to set the trigger control of the AXIBO and HDMI camera.

Endpoint

PUT http://{axibo-ip}:2200/v1/direct-control/trigger

Body Properties

Properties	Type	Required	Description
trigCase	int
timeSpacing	int
pauseAmount	int
count	int
bulb	int
focus	int

Example (PUT)

{
    "trigCase":0,
    "timeSpacing":5000,
    "pauseAmount":5000,
    "count":10, 
    "bulb":0.1,
    "focus": 0
}

Stop Motion Request

The purpose of this request is to stop all current AXIBO motion.

Endpoint

PUT http://{axibo-ip}:2200/v1/direct-control/stop-motion

Body Properties

No body properties. PUT the request to stop all motion.

Example (PUT)

{
    "status": 200,
    "message": "success"
}

Motion Status Request

This requests it meant to receive the motion status of the AXIBO.

Endpoint

GET http://{axibo-ip}:2200/v1/direct-control/trigger

Example (GET)

{
    "panHomed": 0,
    "tiltHomed": 0,
    "panPos": 0.27,
    "tiltPos": -0.68
}

Config Hardware Request

This requests it meant to receive the hardware configuration of the AXIBO.

Endpoint

GET http://{axibo-ip}:2200/v1/direct-control/hardware-config

Example (GET)

{
    "homeOnBoot": 0,
    "P_pan": 0,
    "I_pan": 0,
    "D_pan": 0,
    "ROI_pan": 0,
    "P_til": 0,
    "I_til": 0,
    "D_til": 0,
    "ROI_til": 0,
    "xTarget": 0,
    "yTarget": 0
}