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References

AMSDK Define

Pose3D

• Data Fields
  • double x, y, z
  • double Roll, Pitch, Yaw
• Description
  • Position(x,y,z) and Orientation(Roll, Pitch, Yaw) elements

timeprofile

• Data Fields
  • double ta, tc, td, totaltime
  • double a0[3], a1[3], a2[3]
  • double distance, distance1
  • int Method
• Description
  • Trapezoidal Velocity Profile’s elements
  • distance1 only used in circular trajectory.

MotionPose

• Data Fields
  • vecd StartPose, EndPose
  • Pose3D StartPose3D, ViaPose3D, EndPose3D
  • Position3D CenterPosition
  • int Method
• Description
  • Declaration of manipulator step’s StartPose, EndPose and trajectory method
  • ViaPose and CenterPosition for circular trajectory

ARMSDK Math

static matd GetOrientationMatrix(double Roll, double Pitch, double Yaw)

• Parameter
  • double Roll, double Pitch, double Yaw
• Returns
  • 3 x 3 Rotation Matrix
• Description
  • orientation(Roll, Pitch, Yaw) input
  • 3 x 3 orientation matrix output

static matd GetTransformMatrix(double Roll, double Pitch, double Yaw, double x, double y, double z)

• Parameter
  • double Roll, double Pitch, double Yaw
  • double x, double y, double z
• Returns
  • 4 x 4 Transformation Matrix
• Description
  • orientation(Roll, Pitch, Yaw), Position(X, Y, Z) input
  • 4 x 4 transform Matrix output

static vecd rot2omega(mat3d Rerr)

• Parameter
  • Rotation Matrix
• Returns
  • angular velocity array
• Description
  • rotation matrix gets input and outputs velocity array

static vecd ConvertRad2Deg(vecd q)

• Parameter
  • radian Array
• Returns
  • Degree Array
• Description
  • (rad) gets input, change to (value) and return

static vecd GetEulerRollPitchYaw(matd T)

• Parameter
  • 3 x 3 rotation Matrix or 4 x 4 Transformation Matrix
• Returns
  • 3 x 1 array (Roll, Pitch, Yaw)
• Description
  • vecd rpy(3);
  • rpy(0) = atan2( T(2,1), T(2,2));
  • rpy(1) = atan2(-T(2,0), sqrt(T(2,1)*T(2,1) + T(2,2)*T(2,2)) );
  • rpy(2) = atan2( T(1,0), T(0,0));

MotionEngine

Error.h

void ErrorCheck(int Error)

• Parameter
  • int Error
• Return
  • void
• Description
  • No error(ARMSDK_NO_ERROR 0x00)
  • IK solution does not exist(ARMSDK_NO_IK_SOLUTION 0x01)
  • No IK solution and allowable error(ARMSDK_ACCEPTABLE_ERROR 0x02)
  • Joints’ next and previous step large difference in angle(ARMSDK_TOO_MUCH_ANGLE_CHANGE 0x04)
  • Angle or not within JointData’s limit(ARMSDK_OUT_OF_JOINT_RANGE 0x08) The 5 types of ERROR

JointData.h

void SetJointID(unsigned int ID)

• Parameter
  • unsigned int ID
• Return
  • void
• Description
  • Assign Joint ID

void SetJointAngle(double JointAngle);

• Parameter
  • double JointAngle
• Return
  • void
• Description
  • Set Joint Angle

void SetMinAngleInRad(double MinAngleInRad);

• Parameter
  • double MinAngleInRad
• Return
  • void
• Description
  • Set actuator min angle(rad)
  • Value utilized in 6.3 MotionEngine - iii) RobotInfo’s rad2value function

void SetMaxAngleInRad(double MaxAngleInRad);

• Parameter
  • double MaxAngleInRad
• Return
  • void
• Description
  • Set actuator max angle(rad)
  • Value utilized in 6.3 MotionEngine - iii) RobotInfo’s rad2value function

void SetMinAngleInValue(int Min_AngleValue);

• Parameter
  • int Min_AngleValue
• Return
  • void
• Description
  • Set actuator min value
  • utilized in 6.3 MotionEngine - iii) RobotInfo’s rad2value, value2rad functions

void SetMaxAngleInValue(int Max_AngleValue);

• Parameter
  • int Max_AngleValue
• Return
  • void
• Description
  • Set actuator max value
  • Utilized in 6.3 MotionEngine - iii) RobotInfo’s rad2value, value2rad functions

void SetMinAngleLimitInRad(double MinAngleLimitInRad);

• Parameter
  • double MinAngleLimitInRad
• Return
  • void
• Description
  • Set joint min angle(rad)
  • Also sets the value

void SetMaxAngleLimitInRad(double MaxAngleLimitInRad);

• Parameter
  • double MaxAngleLimitInRad
• Return
  • void
• Description
  • Set joint max angle(rad)
  • Also sets the value

unsigned int GetID(void);

• Parameter
  • void
• Return
  • unsigned int (ID)
• Description
  • Returns joint ID (number)

void SetJointDataDH(double LinkLength, double LinkTwist, double JointOffset, double JointAngle);

• Parameter
  • double LinkLength, double LinkTwist
  • double JointOffset, double JointAngle
• Return
  • void
• Description
  • Set Manipulator’s joint DH parameters in DH Configuration

double GetJointAngle(void);

• Parameter
  • void
• Return
  • double current Angle
• Description
  • Returns joint angle limit(rad)

double GetMinAngleInRad(void);

• Parameter
  • void
• Return
  • MinAngle(rad) of Actuator
• Description
  • SetMinAngleInRad returns actuator min angle(rad)

double GetMaxAngleInRad(void);

• Parameter
  • void
• Return
  • MaxAngle(rad) of Actuator
• Description
  • SetMaxAngleInRad returns actuator max angle(rad)

int GetMinAngleInValue(void);

• Parameter
  • void
• Return
  • MinAngle(value) of Actuator
• Description
  • SetMinAngleInValue returns actuator min angle(value)

int GetMaxAngleInValue(void);

• Parameter
  • void
• Return
  • MaxAngle(value) of Actuator
• Description
  • SetMaxAngleInValue returns actuator max angle(value)

double GetMinAngleLimitInRad(void);

• Parameter
  • void
• Return
  • MinAngle(rad) of Joint
• Description
  • SetMinAngleLimitInRad returns joint min angle(rad)

double GetMaxAngleLimitInRad(void);

• Parameter
  • void
• Return
  • MaxAngle(rad) of Joint
• Description
  • SetMaxAngleLimitInRad returns joint max angle(rad)

int GetMinAngleLimitInValue(void);

• Parameter
  • void
• Return
  • MinAngle(value) of Joint
• Description
  • SetMinAngleLimitInRad returns joint min angle(value)

int GetMaxAngleLimitInValue(void);

• Parameter
  • void
• Return
  • MaxAngle(value) of Joint
• Description
  • SetMaxAngleLimitInRad returns joint max angle(value)

matd GetTransformMatirx(void);

• Parameter
  • void
• Return
  • matd TransformMatrix of each Link
• Description
  • Returns transform matrix for each link

RobotInfo.h

int AddJoint (double LinkLength, double LinkTwist, double JointOffset, double JointAngle, double MaxAngleInRad, double MinAngleInRad, int MaxAngleValue , int MinAngleValue, double MaxAngleLimitInRad, double MinAngleLimitInRad, unsigned int Dynamixel_ID);

• Parameter
  • LinkLength, LinkTwist, JointOffset, JointAngle – DH parameter
  • MaxAngleInRad - Maximum Angle of Actuator(not Joint Limit)
  • MinAngleInRad – Minimum Angle of Actuator(not Joint Limit)
  • MaxAngleInValue – AngleValue corresponding to the Maxangle
  • MinAngleInValue – AngleValie corresponding to the Minangle
  • MaxAngleLimitInRad – Maximum Joint Angle Limit of Actuator
  • MinAngleLimitInRad – Minimum Joint Angle Limit of Actuator
• Return
  • Error Value
• Description
  • Sets joint’s DH-Parameter and Joint-Parameter values
  • Error of 0 is no error and 1 when there is error.
  • Error happens when min value is greater than max value

JointData GetJointInfo(int joint_number);

• Parameter
  • int Joint_number
• Return
  • JointData
• Description
  • Returns JointData from AddJoint

std::vector* GetRobotInfo(void);

• Parameter
  • JointData
• Return
  • address of robotInfo
• Description
  • Returns address values from RobotInfomation

void ClearRobotInfo(void);

• Parameter
  • void
• Return
  • void
• Description
  • Clears out RobotInfo

veci GetArmIDList(void);

• Parameter
  • void
• Return
  • ID List of Robot Actuators
• Description
  • Returns joint ID in aray form inAddJoint

veci Rad2Value(vecd q);

• Parameter
  • double array of Actuators Angle(Rad)
• Return
  • int array of Actuators Angle(Value)
• Description
  • Transforms joint’s rad to value.

vecd Value2Rad(veci q);

• Parameter
  • int array of Actuators Angle(Value)
• Return
  • double array of Actuators Angle(Rad)
• Description
  • Transforms joint’s value to rad.

Kinematics.h

void RobotInfoReload(void);

• Parameter
  • void
• Return
  • void
• Description
  • Calls RobotInfo

matd Forward(vecd angle);

• Parameter
  • Angle of All Joints(rad)
• Return
  • 4x4 TransformMatrix form
• Description
  • RobotInfoReload calls joints angles runs FK and returns end effector’s transformation matrix

matd Forward(vecd angle, Pose3D *pose);

• Parameter
  • Angle of All Joints(rad)
• Return
  • 4x4 EndEffector’s TransformMatrix form
• Description
  • RobotInfoReload calls joint angles runs FK and returns end effector’s transformation matrix. It also sets pose pointer (*pose)

void SetMaximumNumberOfIterationsForIK(unsigned int max_num);

• Parameter
  • unsigned int max_num for IK
• Return
  • void
• Description
  • Sets IK’s number of iterations for solution

void SetConvergenceCondition(double max_error, double max_acceptable_error);

• Parameter
  • double max_error, double max_acceptable_error
• Return
  • void
• Description
  • IK’s amount of telorable error.
  • The first input value is max convergence error. A lesser value than max can allow solution.
  • The second value is max allowable error; acceptable as long as is lower than value entered. When value exceeds then there is no solution..

matd Jacobian(void);

• Parameter
  • void
• Return
  • Matrix of Jacobian
• Description
  • Returns jacobian for IK solution

vecd CalcError(Pose3D _desired, matd _current);

• Parameter
  • Pose3D goalPose, TransformMatrix of EndEffector
• Return
  • Error between Goal and Currnet Pose
• Description
  • Compares end effector’s goal pose and current pose

void ComputeIK(Pose3D _desired , vecd *q_rad, vecd Initangle_rad, int *ErrorStatus);

• Parameter
  • Pose3D goalPose, vecd initangle, int ErrorStatus
• Return
  • void
• Description
  • get jacobian’s Damped Least Square Method for IK solution
  • _desired is end effector’s desired pose
  • *q_rad sets joints pose after running IK
  • Initangle_rad is joint angles prior to running IK
  • ErrorStatus is pointer for error type
  • ErrorStatus.
    1. No error(ARMSDK_NO_ERROR 0x00)
    2. No solution from IK(ARMSDK_NO_IK_SOLUTION 0x01)
    3. no solution from IK, allowable error(ARMSDK_ACCEPTABLE_ERROR 0x02)
    4. joint angles exceed JointData’s set angles(ARMSDK_OUT_OFF_JOINT_RANGE 0x08)

TrajectoryGenerator.h

void KinematicsInfoReload(void);

• Parameter
  • void
• Return
  • void
• Description
  • Calls Kinematics info

void Set_P2P(vecd StartPose, vecd EndPose, double TotalTime, double AccelTime);

• Parameter
  • vecd StartPose / vecd EndPose
  • double TotalTime / double AccelTime
• Returns
  • void
• Description
  • sets P2P trajectory fromStartPose, EndPose, TotalTime, AccelTime

void Set_P2P(Pose3D StartPose, Pose3D EndPose, double TotalTime, double AccelTime);

• Parameter
  • Pose3D StartPose / Pose3D EndPose
  • double TotalTime / double AccelTime
• Returns
  • void
• Description
  • Sets P2P trajectory from StartPose, EndPose, TotalTime, AccelTime

void Set_LIN(vecd StartPose, vecd EndPose, double TotalTime, double AccelTime);

• Parameter
  • vecd StartPose / vecd EndPose
  • double TotalTime / double AccelTime
• Returns
  • void
• Description
  • Sets linear trajectory from StartPose, EndPose, TotalTime, AccelTime

void Set_LIN(Pose3D StartPose, Pose3D EndPose, double TotalTime, double AccelTime);

• Parameter
  • Pose3D StartPose / Pose3D EndPose
  • double TotalTime / double AccelTime
• Returns
  • void
• Description
  • Sets linear trajectory from StartPose, EndPose, TotalTime, AccelTime

void Set_CIRC(vecd StartPose, vecd ViaPose, vecd EndPose, double TotalTime, double AccelTime);

• Parameter
  • vecd StartPose / vecd ViaPose / vecd EndPose
  • double TotalTime / double AccelTime
• Returns
  • void
• Description
  • Sets circular trajectory from StartPose, ViaPose, EndPose, TotalTime, AccelTime.

void Set_CIRC(Pose3D StartPose, Pose3D ViaPose, Pose3D EndPose, double TotalTime, double AccelTime);

• Parameter
  • Pose3D StartPose / Pose3D EndPose
  • double TotalTime / double AccelTime
• Returns
  • void
• Description
  • Sets circular trajectory fom StartPose, ViaPose, EndPose, TotalTime, AccelTime

void Set_P2PwithHand(vecd StartPose, vecd EndPose, veci Hand1, veci Hand2, double TotalTime, double AccelTime);

• Parameter
  • vecd StartPose / vecd EndPose
  • veci Hand1 / veci Hand2
  • double TotalTime / double AccelTime
• Returns
  • void
• Description
  • Sets P2P trajectory from StartPose, EndPose, Start HandPose, End HandPose, TotalTime, AccelTime

void Set_P2PwithHand(Pose3D StartPose, Pose3D EndPose, veci Hand1, veci Hand2, double TotalTime, double AccelTime);

• Parameter
  • Pose3D StartPose / Pose3D EndPose
  • veci Hand1 / veci Hand2
  • double TotalTime / double AccelTime
• Returns
  • void
• Description
  • Sets P2P trajectory from StartPose, EndPose, Start HandPose, End HandPose, TotalTime, AccelTime

void Set_LINwithHand(vecd StartPose, vecd EndPose, veci Hand1, veci Hand2, double TotalTime, double AccelTime);

• Parameter
  • vecd StartPose / vecd EndPose
  • veci Hand1 / veci Hand2
  • double TotalTime / double AccelTime
• Returns
  • void
• Description
  • Sets linear trajectory from StartPose, EndPose, Start HandPose, End HandPose, TotalTime, AccelTime.

void Set_LINwithHand(Pose3D StartPose, Pose3D EndPose, veci Hand1, veci Hand2, double TotalTime, double AccelTime);

• Parameter
  • Pose3D StartPose / Pose3D EndPose
  • veci Hand1 / veci Hand2
  • double TotalTime / double AccelTime
• Returns
  • void
• Description
  • Sets linear trajectory from StartPose, EndPose, Start HandPose, End HandPose, TotalTime, AccelTime

void Set_CIRCwithHand(vecd StartPose, vecd ViaPose, vecd EndPose, veci Hand1, veci Hand2, double TotalTime, double AccelTime);

• Parameter
  • vecd StartPose / vecd EndPose / vecd ViaPose
  • veci Hand1 / veci Hand2
  • double TotalTime / double AccelTime
• Returns
  • void
• Description
  • Sets circular trajectory from StartPose, ViaPose, EndPose, Start HandPose, End HandPose, TotalTime, AccelTime

void Set_CIRCwithHand(Pose3D StartPose, Pose3D ViaPose, Pose3D EndPose, veci Hand1, veci Hand2, double TotalTime, double AccelTime);

• Parameter
  • Pose3D StartPose / Pose3D ViaPose / Pose3D EndPose
  • veci Hand1 / veci Hand2
  • double TotalTime / double AccelTime
• Returns
  • void
• Description
  • Sets circular trajectory from StartPose, ViaPose, EndPose, Start HandPose, End HandPose, TotalTime, AccelTime

void ClearMF(void)

• Parameter
  • void
• Returns
  • void
• Description
  • Clears out motion profile

double GetMotionTotalTime(void)

• Parameter
  • void
• Returns
  • TotalTime in sec
• Description
  • Returns motion run time

MotionPlay.h

void All_Info_Reload(void);

• Parameter
  • void
• Returns
  • void
• Description
  • Calls motion’s Info(RobotInfo, Kinematics, Trajectory)

void initialize(void)

• Parameter
  • void
• Returns
  • void
• Description
  • Initializes motion profile, done time, step, current time

void Set_Time_Period(int MilliSecond)

• Parameter
  • int MilliSecond
• Returns
  • void
• Description
  • Provides period time for motion

vecd NextStepAtTime(double CurrentTime, int *ErrorStatus)

• Parameter
  • double CurrentTime
  • int *ErrorStatus
• Returns
  • Joint Angle of next Step
• Description
  • Returns next Goal Joint Angle array
  • ErrorStatus is pointer for error type

veci NextStepAtTimeforHand(double CurrentTime)

• Parameter
  • CurrentTime - current time in sec
• Returns
  • Angle Value array of Fingers for next step
• Description
  • Returns following Goal Joint Angle array for hand
  • Assumes hand is attached to arm

• vecd CalcIK(Pose3D desiredPose, int *ErrorStatus)

• Parameter
  • Pose3D desiredPose / int *ErrorStatus
• Returns
  • Joint Angle of desiredPose
• Description
  • Returns desired pose of end effector via IK
  • ErrorStatus is pointer for error type
    1. no error(ARMSDK_NO_ERROR 0x00)
    2. No solution from IK(ARMSDK_NO_IK_SOLUTION 0x01)
    3. no solution from IK, allowable error(ARMSDK_ACCEPTABLE_ERROR 0x02)
    4. joint angles exceed JointData’s set angles(ARMSDK_OUT_OFF_JOINT_RANGE 0x08)

vecd NextStep(int* ErrorStatus)

• Parameter
  • ErrorStatus
• Returns
  • Angle rad array for next step
• Description
  • Returns next motion’s joint angles
  • ErrorStatus is pointer for error type

veci NextStepforHand(void)

• Parameter
  • void
• Returns
  • Angle Value array of Fingers for next step
• Description
  • Returns hand’s next motion position

vecd GetCurrentAngle(void);

• Parameter
  • void
• Returns
  • All Joint Angle(rad)
• Description
  • Returns robot’s current pos(rad) array

Pose3D GetCurrentEndPose(void);

• Parameter
  • void
• Returns
  • Pose3D of EndEffector
• Description
  • Returns end effector’s current pose

double Get_CurrentTime(void);

• Parameter
  • void
• Returns
  • double CurrentTime
• Description
  • Returns current time

RobotisLib

Pro_Arm_Comm_win.h

void DXL_Set_Init_Param(int portnum, int baudnum);

• Parameter
  • int portnum, int baudnum
• Returns
  • void
• Description
  • Sets DYNAMIXEL comms from portnum and baudnum

int DXL_Open();

• Parameter
  • void
• Returns
  • void
• Description
  • Opens/access comms to DYNAMIXEL_Set_Init_Param

SerialPort* DXL_Get_Port(void);

• Parameter
  • void
• Returns
  • PortNumber
• Description
  • Returns SerialPort pointer address

void DXL_Close(void);

• Parameter
  • void
• Returns
  • void
• Description
  • End communications with Dynamixel

void Arm_ID_Setup(veci Arm_ID_LIST);

• Parameter
  • array of ID List
• Returns
  • void
• Description
  • Sets arm’s ID list

int Arm_Torque_On(void);

• Parameter
  • void
• Returns
  • Communication Result
• Description
  • Turn torque on every joint
  • COMM_RXSUCCESS return of 1

int Arm_Torque_Off(void);

• Parameter
  • void
• Returns
  • Communication Result
• Description
  • Turns torque off on every joint
  • COMM_RXSUCCESS return of 1

int Arm_Set_JointPosition(veci position);

• Parameter
  • joint angle array
• Returns
  • Communication Result
• Description
  • Sets joint angles
  • COMM_RXSUCCESS return of 1

int Arm_Set_JointVelocity(veci velocity);

• Parameter
  • int joint velocity array
• Returns
  • Communication Result
• Description
  • Sets joint valocities
  • COMM_RXSUCCESS return of 1

int Arm_Set_JointVelocity(int velocity);

• Parameter
  • int joint velocity
• Returns
  • Communication Result
• Description
  • Sets joint velocities
  • COMM_RXSUCCESS return of 1

int Arm_Set_JointAcceleration(veci accel);

• Parameter
  • int joint Acceleration array
• Returns
  • Communication Result
• Description
  • Sets joint accelerations
  • COMM_RXSUCCESS return of 1

int Arm_Set_JointAcceleration(int accel);

• Parameter
  • int joint Acceleration
• Returns
  • Communication Result
• Description
  • Sets joint accelerations
  • COMM_RXSUCCESS return of 1

int Arm_Set_Position_PID_Gain(int P_Gain, int I_Gain, int D_Gain);

• Parameter
  • int joint Position P, I, D gain
• Returns
  • Communication Result
• Description
  • Sets joints’ PID gain values
  • COMM_RXSUCCESS return of 1

int Arm_Set_Position_PID_Gain(int id, int P_Gain, int I_Gain, int D_Gain, int* ErrorStatus);

• Parameter
  • int id, int joint Position P, I, D gain
• Returns
  • Communication Result
• Description
  • Sets joints’ PID gain values
  • ErrorStatus is error pointer
  • COMM_RXSUCCESS return of 1

int Arm_Get_JointPosition(veci *position);

• Parameter
  • joint position array
• Returns
  • Communication Result
• Description
  • Access position array and gets joint positions
  • COMM_RXSUCCESS return of 1

int Arm_Get_JointCurrent(veci *torque);

• Parameter
  • joint current array
• Returns
  • Communication Result
• Description
  • Reads joint’s electrical current flow and saves in (*torque) return pointer
  • COMM_RXSUCCESS return of 1

int Arm_LED_On(void);

• Parameter
  • void
• Returns
  • Communication Result
• Description
  • Turns joints’ LED on
  • COMM_RXSUCCESS return of 1

int Arm_LED_Off(void);

• Parameter
  • void
• Returns
  • Communication Result
• Description
  • Turns joints’ LED off
  • COMM_RXSUCCESS return of 1

int Arm_LED_On(int r, int g, int b);

• Parameter
  • int r, int g, int b
• Returns
  • Communication Result
• Description
  • Controls DYNAMIXEL Pro’s RGB LED
  • r, g, b, rage is 0~255 each
  • COMM_RXSUCCESS return of 1

int Arm_Red_LED_On(void);

int Arm_Green_LED_On(void);

int Arm_Blue_LED_On(void);

• Parameter
  • void
• Returns
  • Communication Result
• Description
  • turns joints’ LED on to red(Arm_Red_LED_On)
  • turns joints’ LED on to green(Arm_Green_LED_On)
  • turns joints’ LED on to blue(Arm_Blue_LED_On)
  • COMM_RXSUCCESS return of 1

void Gripper_ID_Setup(veci Gripper_ID_List);

• Parameter
  • ID array
• Returns
  • void
• Description
  • Sets ID for gripper.

int Gripper_Ping(void);

• Parameter
  • void
• Returns
  • Communication Result
• Description
  • Pings comm to gripperGripper
  • COMM_RXSUCCESS return of 1

int Gripper_Torque_On(void);

• Parameter
  • void
• Returns
  • Communication Result
• Description
  • Turns gripper torque on
  • COMM_RXSUCCESS return of 1

int Gripper_Torque_Off(void);

• Parameter
  • void
• Returns
  • Communication Result
• Description
  • Turns gripper torque off
  • COMM_RXSUCCESS return of 1

int Gripper_Get_Joint_Value(veci *value);

• Parameter
  • Joint value array stored in address
• Returns
  • Communication Result
• Description
  • Access gripper’s angles from stored address
  • COMM_RXSUCCESS return of 1

int Gripper_Set_Joint_Value(veci value);

• Parameter
  • Joint value array
• Returns
  • Communication Result
• Description
  • Sets gripper joint value
  • COMM_RXSUCCESS return of 1

Timer

MotionTimer.h

time measurement fromQueryPerformanceCounter

void Start(void)

• Parameter
  • void
• Returns
  • void
• Description
  • Sets start time

void Stop(void)

• Parameter
  • void
• Returns
  • void
• Description
  • Stops time measurement

double GetElapsedTime(void)

• Parameter
  • void
• Returns
  • ElapsedTime in milliseconds
• Description
  • Returns time from start to stop

void Wait(double millisec)

• Parameter
  • millisecond - waiting time in milliseconds you want
• Returns
  • void
• Description
  • Waits amount of time(msec) for standby

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