KatanaNativeInterface
$VERSION$
|
Go to the documentation of this file.
48 Exception(
"Cannot open configuration file '" + port +
"'", -40) {}
129 void inc(
long idx,
int dif,
bool wait =
false,
int tolerance = 100,
long timeout =
TM_ENDLESS);
132 void dec(
long idx,
int dif,
bool wait =
false,
int tolerance = 100,
long timeout =
TM_ENDLESS);
136 void mov(
long idx,
int tar,
bool wait =
false,
int tolerance = 100,
long timeout =
TM_ENDLESS);
219 std::vector<int>::iterator
getRobotEncoders(std::vector<int>::iterator start, std::vector<int>::const_iterator end,
bool refreshEncoders =
true)
const;
237 void moveMotorByEnc(
short number,
int encoders,
bool waitUntilReached =
false,
int waitTimeout = 0);
238 void moveMotorBy (
short number,
double radianAngle,
bool waitUntilReached =
false,
int waitTimeout = 0);
240 void moveMotorToEnc(
short number,
int encoders,
bool waitUntilReached =
false,
int encTolerance = 100,
int waitTimeout = 0);
241 void moveMotorTo (
short number,
double radianAngle,
bool waitUntilReached =
false,
int waitTimeout = 0);
243 void waitForMotor(
short number,
int encoders,
int encTolerance = 100,
short mode = 0,
int waitTimeout = 5000);
248 void moveRobotToEnc(std::vector<int>::const_iterator start, std::vector<int>::const_iterator end,
bool waitUntilReached =
false,
int encTolerance = 100,
int waitTimeout = 0);
252 void moveRobotToEnc(std::vector<int> encoders,
bool waitUntilReached =
false,
int encTolerance = 100,
int waitTimeout = 0);
254 void moveRobotToEnc4D(std::vector<int> target,
int velocity=180,
int acceleration = 1,
int encTolerance = 100);
256 void openGripper (
bool waitUntilReached =
false,
int waitTimeout = 100);
257 void closeGripper(
bool waitUntilReached =
false,
int waitTimeout = 100);
278 void sendSplineToMotor(
unsigned short number,
short targetPosition,
short duration,
short p1,
short p2,
short p3,
short p4);
284 void sendFourSplinesToMotor(
unsigned short number,
short targetPosition,
short duration, std::vector<short>& coefficients);
285 void sendFourSplinesToMotor(
unsigned short number,
short targetPosition,
short duration,
short p01,
short p11,
short p21,
short p31,
short p02,
short p12,
short p22,
short p32,
short p03,
short p13,
short p23,
short p33,
short p04,
short p14,
short p24,
short p34);
ConfigFileOpenException(const std::string &port)
void setRobotAccelerationLimit(short acceleration)
Set the velocity of all motors together.
void moveMotorToEnc(short number, int encoders, bool waitUntilReached=false, int encTolerance=100, int waitTimeout=0)
void setGripperParameters(bool isPresent, int openEncoders, int closeEncoders)
Tell the robot about the presence of a gripper.
void movDegrees(long idx, double tar, bool wait=false, int tolerance=100, long timeout=TM_ENDLESS)
Moves the motor specified by an index to a given target position in degree units.
int _gripperCloseEncoders
short getMotorAccelerationLimit(short number) const
void startFourSplinesMovement(bool exactflag)
Start a fourSplines movement.
void freezeMotor(short number)
void setMotorVelocityLimit(short number, short velocity)
void dec(long idx, int dif, bool wait=false, int tolerance=100, long timeout=TM_ENDLESS)
Decrements the motor specified by an index postion in encoders.
void moveMotorTo(short number, double radianAngle, bool waitUntilReached=false, int waitTimeout=0)
short getNumberOfMotors() const
void disableCrashLimits()
crash limits disable
This class is for internal use only It may change at any time It shields the configuration file parsi...
void sendTPSP(bool wait=false, long timeout=TM_ENDLESS)
Moves the allowed motors simultaneously.
void decDegrees(long idx, double dif, bool wait=false, int tolerance=100, long timeout=TM_ENDLESS)
Decrements the motor specified by an index postion in degree units.
[SCP] static controller parameters
#define TM_ENDLESS
timeout symbol for 'endless' waiting
void moveRobotToEnc(std::vector< int >::const_iterator start, std::vector< int >::const_iterator end, bool waitUntilReached=false, int encTolerance=100, int waitTimeout=0)
Move to robot to given encoders.
void sendFourSplinesToMotor(unsigned short number, short targetPosition, short duration, short p01, short p11, short p21, short p31, short p02, short p12, short p22, short p32, short p03, short p13, short p23, short p33, short p04, short p14, short p24, short p34)
void setCrashLimit(long idx, int limit)
unblock robot after a crash
Inverse Kinematics structure of the endeffektor.
Calibration structure for single motors.
void setTPSPDegrees(long idx, double tar)
Sets the target position of a motor in degree Units and allows the movement of that motor during the ...
void switchMotorOff(short number)
void setMotorAccelerationLimit(short number, short acceleration)
void moveMotorByEnc(short number, int encoders, bool waitUntilReached=false, int waitTimeout=0)
void create(KNI::kmlFactory *infos, CCplBase *protocol)
void inc(long idx, int dif, bool wait=false, int tolerance=100, long timeout=TM_ENDLESS)
Increments the motor specified by an index postion in encoders.
bool checkENLD(long idx, double degrees)
Check if the absolute position in degrees is out of range.
std::vector< int > getRobotEncoders(bool refreshEncoders=true) const
Get the current robot encoders as a vector-container.
void setSpeedCollisionLimit(long idx, int limit)
set collision speed limits
CKatBase * GetBase()
Returns pointer to 'CKatBase*'.
void create(const char *configurationFile, CCplBase *protocol)
Create routine.
void moveRobotToEnc(std::vector< int > encoders, bool waitUntilReached=false, int encTolerance=100, int waitTimeout=0)
Move to robot to given encoders in the vector-container.
Exception(const std::string &message, const int error_number)
void moveRobotToEnc4D(std::vector< int > target, int velocity=180, int acceleration=1, int encTolerance=100)
Move to robot to given target in the vector-container with the given velocity, acceleration and toler...
int mKatanaType
The type of KatanaXXX (300 or 400)
void waitForMotor(short number, int encoders, int encTolerance=100, short mode=0, int waitTimeout=5000)
void openGripper(bool waitUntilReached=false, int waitTimeout=100)
void mov(long idx, int tar, bool wait=false, int tolerance=100, long timeout=TM_ENDLESS)
Moves the motor specified by an index to a given target position in encoders.
void setPositionCollisionLimit(long idx, int limit)
set collision position limits
Accessing the given configuration file failed (may be: access denied or wrong path)
void searchMechStop(long idx, TSearchDir dir, TMotSCP scp, TMotDYL dyl)
void setTolerance(long idx, int enc_tolerance)
Sets the tolerance range in encoder units for the robots movements.
void sendSplineToMotor(unsigned short number, short targetPosition, short duration, short p1, short p2, short p3, short p4)
Send one spline to the motor.
Abstract base class for protocol definiton.
std::vector< int >::iterator getRobotEncoders(std::vector< int >::iterator start, std::vector< int >::const_iterator end, bool refreshEncoders=true) const
Write the cached encoders into the container.
void setRobotVelocityLimit(short velocity)
void unBlock()
unblock robot after a crash
[MOT] every motor's attributes
void setTPSP(long idx, int tar)
Sets the target position of a motor in encoders and allows the movement of that motor during the para...
[SCT] every sens ctrl's attributes
[GNL] general robot attributes
void incDegrees(long idx, double dif, bool wait=false, int tolerance=100, long timeout=TM_ENDLESS)
Increments the motor specified by an index postion in degree units.
void sendFourSplinesToMotor(unsigned short number, short targetPosition, short duration, std::vector< short > &coefficients)
Send four splines to the motor.
void moveMotorBy(short number, double radianAngle, bool waitUntilReached=false, int waitTimeout=0)
void enableCrashLimits()
crash limits enable
CKatBase * base
base katana
void create(TKatGNL &gnl, TKatMOT &mot, TKatSCT &sct, TKatEFF &eff, CCplBase *protocol)
Create routine.
void switchMotorOn(short number)
void startSplineMovement(bool exactflag, int moreflag=1)
Start a spline movement.
void closeGripper(bool waitUntilReached=false, int waitTimeout=100)
int getMotorEncoders(short number, bool refreshEncoders=true) const
void calibrate(long idx, TMotCLB clb, TMotSCP scp, TMotDYL dyl)
void resetTPSP()
Forbid the movement of all the motors during the parallel movement.
short getMotorVelocityLimit(short number) const
Extended Katana class with additional functions.