KatanaNativeInterface
$VERSION$
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Base Katana class. More...
#include <kmlBase.h>
Public Member Functions | |
const TKatGNL * | GetGNL () |
Get a pointer to the desired structure. More... | |
const TKatMFW * | GetMFW () |
Get a pointer to the desired structure. More... | |
const TKatIDS * | GetIDS () |
Get a pointer to the desired structure. More... | |
const TKatCTB * | GetCTB () |
Get a pointer to the desired structure. More... | |
const TKatCBX * | GetCBX () |
Get a pointer to the desired structure. More... | |
const TKatECH * | GetECH () |
Get a pointer to the desired structure. More... | |
const TKatMOT * | GetMOT () |
Get a pointer to the desired structure. More... | |
const TKatSCT * | GetSCT () |
Get a pointer to the desired structure. More... | |
TKatEFF * | GetEFF () |
Get a pointer to the desired structure. More... | |
CKatBase () | |
virtual | ~CKatBase () |
destructor More... | |
virtual bool | init (const TKatGNL _gnl, const TKatMOT _mot, const TKatSCT _sct, const TKatEFF _eff, CCplBase *_protocol) |
void | recvMFW () |
receive data More... | |
void | recvIDS () |
receive data More... | |
void | recvCTB () |
receive data More... | |
void | recvGMS () |
receive data More... | |
void | recvCBX () |
receive data More... | |
void | recvECH () |
receive data More... | |
void | recvNMP () |
receive data More... | |
void | recvMPS () |
read all motor positions simultaneously More... | |
CCplBase * | getProtocol () |
get a handle of the protocol, used in CKatana More... | |
int | checkKatanaType (int type) |
checks for a K300 or K400 More... | |
void | sendCBX (const TKatCBX *_cbx) |
send data More... | |
void | sendTPSP () |
parallel movements More... | |
void | getMasterFirmware (short *fw, short *rev) |
Get the master firmware of the robot we are communicating with. More... | |
void | enableCrashLimits () |
crash limits enable More... | |
void | disableCrashLimits () |
crash limits disable More... | |
void | unBlock () |
unblock robot after a crash More... | |
void | setCrashLimit (long idx, int limit) |
set collision limits More... | |
void | setPositionCollisionLimit (long idx, int limit) |
set collision position limits More... | |
void | setSpeedCollisionLimit (long idx, int limit) |
set collision speed limits More... | |
void | startSplineMovement (bool exactflag, int moreflag=1) |
Start a spline movement. More... | |
void | startFourSplinesMovement (bool exactflag) |
Start a fourSplines movement. More... | |
void | sendSLMP (byte *p) |
linear movements More... | |
void | sendSLM (bool exactflag) |
linear movements More... | |
Protected Attributes | |
TKatGNL | gnl |
katana general More... | |
TKatMFW | mfw |
master's firmware version/revision More... | |
TKatIDS | ids |
ID string. More... | |
TKatCTB | ctb |
cmd table More... | |
TKatCBX | cbx |
connector box More... | |
TKatECH | ech |
echo More... | |
TKatMOT | mot |
motors More... | |
TKatSCT | sct |
sensor controllers More... | |
TKatEFF | eff |
end effector More... | |
CCplBase * | protocol |
protocol interface More... | |
short | mMasterVersion |
master version of robot we are communicating with More... | |
short | mMasterRevision |
master firmware revision More... | |
Base Katana class.
This class is the main object controlling the whole katana; to use it, it has to be initilized by using it's init function; those function expects a initilized protocol class, which in turn expects an initilized device! after the initialization, it does not mean that the coordinates (encoder values) of the motors have been set correctly; for that a calibration is needen; that calibration can be executed either by using the CKatana class in the 'kmlExt' module (which encapsulates this class) or by writing your own calibrations function..
int CKatBase::checkKatanaType | ( | int | type | ) |
checks for a K300 or K400
void CKatBase::disableCrashLimits | ( | ) |
crash limits disable
void CKatBase::enableCrashLimits | ( | ) |
crash limits enable
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void CKatBase::getMasterFirmware | ( | short * | fw, |
short * | rev | ||
) |
Get the master firmware of the robot we are communicating with.
Get master firmware read at initialization time.
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_gnl | general attributes |
_mot | motor attributes |
_sct | sensor controller attributes |
_eff | end effector attributes |
_protocol | desired protocol |
void CKatBase::recvCBX | ( | ) |
receive data
void CKatBase::recvCTB | ( | ) |
receive data
void CKatBase::recvECH | ( | ) |
receive data
void CKatBase::recvGMS | ( | ) |
receive data
void CKatBase::recvIDS | ( | ) |
receive data
void CKatBase::recvMFW | ( | ) |
receive data
void CKatBase::recvMPS | ( | ) |
read all motor positions simultaneously
void CKatBase::recvNMP | ( | ) |
receive data
void CKatBase::sendCBX | ( | const TKatCBX * | _cbx | ) |
send data
void CKatBase::sendSLM | ( | bool | exactflag | ) |
linear movements
void CKatBase::sendSLMP | ( | byte * | p | ) |
linear movements
void CKatBase::sendTPSP | ( | ) |
parallel movements
deprecated: for use with old Katana5M only
void CKatBase::setCrashLimit | ( | long | idx, |
int | limit | ||
) |
set collision limits
//deprecated, use speed & position
void CKatBase::setPositionCollisionLimit | ( | long | idx, |
int | limit | ||
) |
set collision position limits
void CKatBase::setSpeedCollisionLimit | ( | long | idx, |
int | limit | ||
) |
set collision speed limits
void CKatBase::startFourSplinesMovement | ( | bool | exactflag | ) |
Start a fourSplines movement.
exactflag | Set it to true if you want the position controller activated after the movement |
void CKatBase::startSplineMovement | ( | bool | exactflag, |
int | moreflag = 1 |
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Start a spline movement.
exactflag | Set it to true if you want the position controller activated after the movement |
moreflag | 0 = start moving more following, 1 = last or a single polynomial movement, 2 = do not start moving yet more following |
void CKatBase::unBlock | ( | ) |
unblock robot after a crash
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katana general
Definition at line 135 of file kmlBase.h.
Referenced by CSctBase::GetGNL(), and CMotBase::GetGNL().
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