#include <kmlBase.h>
Collaboration diagram for CKatBase:
Public Member Functions | |
const TKatGNL * | GetGNL () |
Get a pointer to the desired structure. | |
const TKatMFW * | GetMFW () |
Get a pointer to the desired structure. | |
const TKatIDS * | GetIDS () |
Get a pointer to the desired structure. | |
const TKatCTB * | GetCTB () |
Get a pointer to the desired structure. | |
const TKatCBX * | GetCBX () |
Get a pointer to the desired structure. | |
const TKatECH * | GetECH () |
Get a pointer to the desired structure. | |
const TKatMOT * | GetMOT () |
Get a pointer to the desired structure. | |
const TKatSCT * | GetSCT () |
Get a pointer to the desired structure. | |
TKatEFF * | GetEFF () |
Get a pointer to the desired structure. | |
CKatBase () | |
virtual | ~CKatBase () |
destructor | |
virtual bool | init (const TKatGNL _gnl, const TKatMOT _mot, const TKatSCT _sct, const TKatEFF _eff, CCplBase *_protocol) |
void | recvMFW () |
receive data | |
void | recvIDS () |
receive data | |
void | recvCTB () |
receive data | |
void | recvGMS () |
receive data | |
void | recvCBX () |
receive data | |
void | recvECH () |
receive data | |
void | recvNMP () |
receive data | |
void | recvMPS () |
read all motor positions simultaneously | |
CCplBase * | getProtocol () |
get a handle of the protocol, used in CKatana | |
int | checkKatanaType (int type) |
checks for a K300 or K400 | |
void | sendCBX (const TKatCBX *_cbx) |
send data | |
void | sendTPSP () |
parallel movements | |
void | getMasterFirmware (short *fw, short *rev) |
Get the master firmware of the robot we are communicating with. | |
void | enableCrashLimits () |
crash limits enable | |
void | disableCrashLimits () |
crash limits disable | |
void | unBlock () |
unblock robot after a crash | |
void | setCrashLimit (long idx, int limit) |
set collision limits | |
void | setPositionCollisionLimit (long idx, int limit) |
set collision position limits | |
void | setSpeedCollisionLimit (long idx, int limit) |
set collision speed limits | |
void | startSplineMovement (bool exactflag, int moreflag=1) |
Start a spline movement. | |
void | startFourSplinesMovement (bool exactflag) |
Start a fourSplines movement. | |
void | sendSLMP (byte *p) |
linear movements | |
void | sendSLM (bool exactflag) |
linear movements | |
Protected Attributes | |
TKatGNL | gnl |
katana general | |
TKatMFW | mfw |
master's firmware version/revision | |
TKatIDS | ids |
ID string. | |
TKatCTB | ctb |
cmd table | |
TKatCBX | cbx |
connector box | |
TKatECH | ech |
echo | |
TKatMOT | mot |
motors | |
TKatSCT | sct |
sensor controllers | |
TKatEFF | eff |
end effector | |
CCplBase * | protocol |
protocol interface | |
short | mMasterVersion |
master version of robot we are communicating with | |
short | mMasterRevision |
master firmware revision |
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..
Definition at line 132 of file kmlBase.h.
virtual CKatBase::~CKatBase | ( | ) | [inline, virtual] |
int CKatBase::checkKatanaType | ( | int | type | ) |
checks for a K300 or K400
void CKatBase::disableCrashLimits | ( | ) |
crash limits disable
void CKatBase::enableCrashLimits | ( | ) |
crash limits enable
const TKatCBX* CKatBase::GetCBX | ( | ) | [inline] |
const TKatCTB* CKatBase::GetCTB | ( | ) | [inline] |
const TKatECH* CKatBase::GetECH | ( | ) | [inline] |
TKatEFF* CKatBase::GetEFF | ( | ) | [inline] |
const TKatGNL* CKatBase::GetGNL | ( | ) | [inline] |
const TKatIDS* CKatBase::GetIDS | ( | ) | [inline] |
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.
const TKatMFW* CKatBase::GetMFW | ( | ) | [inline] |
const TKatMOT* CKatBase::GetMOT | ( | ) | [inline] |
CCplBase* CKatBase::getProtocol | ( | ) | [inline] |
const TKatSCT* CKatBase::GetSCT | ( | ) | [inline] |
virtual bool CKatBase::init | ( | const TKatGNL | _gnl, | |
const TKatMOT | _mot, | |||
const TKatSCT | _sct, | |||
const TKatEFF | _eff, | |||
CCplBase * | _protocol | |||
) | [virtual] |
_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 | |||
) |
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
TKatCBX CKatBase::cbx [protected] |
TKatCTB CKatBase::ctb [protected] |
TKatECH CKatBase::ech [protected] |
TKatEFF CKatBase::eff [protected] |
TKatGNL CKatBase::gnl [protected] |
katana general
Definition at line 135 of file kmlBase.h.
Referenced by CSctBase::GetGNL(), and CMotBase::GetGNL().
TKatIDS CKatBase::ids [protected] |
TKatMFW CKatBase::mfw [protected] |
short CKatBase::mMasterRevision [protected] |
short CKatBase::mMasterVersion [protected] |
TKatMOT CKatBase::mot [protected] |
CCplBase* CKatBase::protocol [protected] |
TKatSCT CKatBase::sct [protected] |