CKatBase Class Reference
Base Katana class.
More...
#include <kmlBase.h>
List of all members.
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
|
Detailed Description
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..
Definition at line 132 of file kmlBase.h.
Constructor & Destructor Documentation
CKatBase::CKatBase |
( |
|
) |
[inline] |
virtual CKatBase::~CKatBase |
( |
|
) |
[inline, virtual] |
Member Function Documentation
int CKatBase::checkKatanaType |
( |
int |
type |
) |
|
checks for a K300 or K400
void CKatBase::disableCrashLimits |
( |
|
) |
|
void CKatBase::enableCrashLimits |
( |
|
) |
|
const TKatCBX* CKatBase::GetCBX |
( |
|
) |
[inline] |
Get a pointer to the desired structure.
Definition at line 160 of file kmlBase.h.
const TKatCTB* CKatBase::GetCTB |
( |
|
) |
[inline] |
Get a pointer to the desired structure.
Definition at line 158 of file kmlBase.h.
const TKatECH* CKatBase::GetECH |
( |
|
) |
[inline] |
Get a pointer to the desired structure.
Definition at line 162 of file kmlBase.h.
TKatEFF* CKatBase::GetEFF |
( |
|
) |
[inline] |
Get a pointer to the desired structure.
Definition at line 169 of file kmlBase.h.
const TKatGNL* CKatBase::GetGNL |
( |
|
) |
[inline] |
Get a pointer to the desired structure.
Definition at line 152 of file kmlBase.h.
const TKatIDS* CKatBase::GetIDS |
( |
|
) |
[inline] |
Get a pointer to the desired structure.
Definition at line 156 of file kmlBase.h.
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] |
Get a pointer to the desired structure.
Definition at line 154 of file kmlBase.h.
const TKatMOT* CKatBase::GetMOT |
( |
|
) |
[inline] |
Get a pointer to the desired structure.
Definition at line 165 of file kmlBase.h.
CCplBase* CKatBase::getProtocol |
( |
|
) |
[inline] |
const TKatSCT* CKatBase::GetSCT |
( |
|
) |
[inline] |
Get a pointer to the desired structure.
Definition at line 167 of file kmlBase.h.
- Parameters:
-
| _gnl | general attributes |
| _mot | motor attributes |
| _sct | sensor controller attributes |
| _eff | end effector attributes |
| _protocol | desired protocol |
void CKatBase::recvCBX |
( |
|
) |
|
void CKatBase::recvCTB |
( |
|
) |
|
void CKatBase::recvECH |
( |
|
) |
|
void CKatBase::recvGMS |
( |
|
) |
|
void CKatBase::recvIDS |
( |
|
) |
|
void CKatBase::recvMFW |
( |
|
) |
|
void CKatBase::recvMPS |
( |
|
) |
|
read all motor positions simultaneously
void CKatBase::recvNMP |
( |
|
) |
|
void CKatBase::sendCBX |
( |
const TKatCBX * |
_cbx |
) |
|
void CKatBase::sendSLM |
( |
bool |
exactflag |
) |
|
void CKatBase::sendSLMP |
( |
byte * |
p |
) |
|
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.
- Parameters:
-
| 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.
- Parameters:
-
| 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
Member Data Documentation
master's firmware version/revision
Definition at line 136 of file kmlBase.h.
master firmware revision
Definition at line 148 of file kmlBase.h.
master version of robot we are communicating with
Definition at line 147 of file kmlBase.h.
protocol interface
Definition at line 146 of file kmlBase.h.
sensor controllers
Definition at line 143 of file kmlBase.h.
The documentation for this class was generated from the following file: