CKatBase Class Reference
Base Katana class.
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#include <kmlBase.h>
List of all members.
Public Member Functions |
int | checkKatanaType (int type) |
| checks for a K300 or K400
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| CKatBase () |
void | disableCrashLimits () |
| crash limits disable
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void | enableCrashLimits () |
| crash limits enable
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int | flushMoveBuffers () |
| flush move buffers on all motors:
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const TKatCBX * | GetCBX () |
| Get a pointer to the desired structure.
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const TKatCTB * | GetCTB () |
| Get a pointer to the desired structure.
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const TKatECH * | GetECH () |
| Get a pointer to the desired structure.
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TKatEFF * | GetEFF () |
| Get a pointer to the desired structure.
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const TKatGNL * | GetGNL () |
| Get a pointer to the desired structure.
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const TKatIDS * | GetIDS () |
| Get a pointer to the desired structure.
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void | getMasterFirmware (short *fw, short *rev) |
| Get the master firmware of the robot we are communicating with.
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const TKatMFW * | GetMFW () |
| Get a pointer to the desired structure.
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const TKatMOT * | GetMOT () |
| Get a pointer to the desired structure.
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CCplBase * | getProtocol () |
| get a handle of the protocol, used in CKatana
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const TKatSCT * | GetSCT () |
| Get a pointer to the desired structure.
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virtual bool | init (const TKatGNL _gnl, const TKatMOT _mot, const TKatSCT _sct, const TKatEFF _eff, CCplBase *_protocol) |
int | readDigitalIO () |
| get digital I/O data from Katana400:
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void | recvCTB () |
| receive data
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void | recvECH () |
| receive data
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void | recvGMS () |
| receive data
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void | recvIDS () |
| receive data
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void | recvMFW () |
| receive data
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void | recvMPS () |
| read all motor positions simultaneously
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void | setAndStartPolyMovement (std::vector< short > polynomial, int exactflag, int moreflag) |
void | setCrashLimit (long idx, int limit) |
| set collision limits
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void | setPositionCollisionLimit (long idx, int limit) |
| set collision position limits
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void | setSpeedCollisionLimit (long idx, int limit) |
| set collision speed limits
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void | startSplineMovement (int exactflag, int moreflag=1) |
void | unBlock () |
| unblock robot after a crash
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void | waitFor (TMotStsFlg status, int waitTimeout, bool gripper) |
| wait for motor on all motors
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virtual | ~CKatBase () |
| destructor
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Protected Attributes |
TKatCBX | cbx |
| connector box
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TKatCTB | ctb |
| cmd table
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TKatECH | ech |
| echo
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TKatEFF | eff |
| end effector
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TKatGNL | gnl |
| katana general
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TKatIDS | ids |
| ID string.
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TKatMFW | mfw |
| master's firmware version/revision
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short | mMasterRevision |
| master firmware revision
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short | mMasterVersion |
| master version of robot we are communicating with
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TKatMOT | mot |
| motors
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CCplBase * | protocol |
| protocol interface
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TKatSCT | sct |
| sensor controllers
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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 |
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[inline] |
virtual CKatBase::~CKatBase |
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[inline, virtual] |
Member Function Documentation
int CKatBase::checkKatanaType |
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int |
type |
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void CKatBase::disableCrashLimits |
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void CKatBase::enableCrashLimits |
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int CKatBase::flushMoveBuffers |
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flush move buffers on all motors:
Definition at line 291 of file kmlBase.cpp.
const TKatCBX* CKatBase::GetCBX |
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[inline] |
Get a pointer to the desired structure.
Definition at line 160 of file kmlBase.h.
const TKatCTB* CKatBase::GetCTB |
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[inline] |
Get a pointer to the desired structure.
Definition at line 158 of file kmlBase.h.
const TKatECH* CKatBase::GetECH |
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[inline] |
Get a pointer to the desired structure.
Definition at line 162 of file kmlBase.h.
TKatEFF* CKatBase::GetEFF |
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[inline] |
Get a pointer to the desired structure.
Definition at line 169 of file kmlBase.h.
const TKatGNL* CKatBase::GetGNL |
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[inline] |
Get a pointer to the desired structure.
Definition at line 152 of file kmlBase.h.
const TKatIDS* CKatBase::GetIDS |
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[inline] |
Get a pointer to the desired structure.
Definition at line 156 of file kmlBase.h.
void CKatBase::getMasterFirmware |
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short * |
fw, |
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short * |
rev | |
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Get the master firmware of the robot we are communicating with.
Get master firmware read at initialization time.
Definition at line 164 of file kmlBase.cpp.
const TKatMFW* CKatBase::GetMFW |
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[inline] |
Get a pointer to the desired structure.
Definition at line 154 of file kmlBase.h.
const TKatMOT* CKatBase::GetMOT |
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[inline] |
Get a pointer to the desired structure.
Definition at line 165 of file kmlBase.h.
CCplBase* CKatBase::getProtocol |
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[inline] |
const TKatSCT* CKatBase::GetSCT |
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[inline] |
Get a pointer to the desired structure.
Definition at line 167 of file kmlBase.h.
- Parameters:
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| _gnl | general attributes |
| _mot | motor attributes |
| _sct | sensor controller attributes |
| _eff | end effector attributes |
| _protocol | desired protocol |
Definition at line 27 of file kmlBase.cpp.
int CKatBase::readDigitalIO |
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get digital I/O data from Katana400:
Definition at line 278 of file kmlBase.cpp.
void CKatBase::recvCTB |
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void CKatBase::recvECH |
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void CKatBase::recvGMS |
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void CKatBase::recvIDS |
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void CKatBase::recvMFW |
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void CKatBase::recvMPS |
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read all motor positions simultaneously
Definition at line 247 of file kmlBase.cpp.
void CKatBase::setAndStartPolyMovement |
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std::vector< short > |
polynomial, |
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int |
exactflag, |
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int |
moreflag | |
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Send polynomials to all motors and start movement
- Parameters:
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| polynomial | time, target pos and coefficients of the motor polynomials |
| exactflag | exactflag |
| moreflag | 0 = start moving more following, 1 = last or a single polynomial movement, 2 = do not start moving yet more following |
Definition at line 233 of file kmlBase.cpp.
void CKatBase::setCrashLimit |
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long |
idx, |
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int |
limit | |
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set collision limits
//deprecated, use speed & position
Definition at line 197 of file kmlBase.cpp.
void CKatBase::setPositionCollisionLimit |
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long |
idx, |
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int |
limit | |
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set collision position limits
Definition at line 209 of file kmlBase.cpp.
void CKatBase::setSpeedCollisionLimit |
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long |
idx, |
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int |
limit | |
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set collision speed limits
Definition at line 213 of file kmlBase.cpp.
void CKatBase::startSplineMovement |
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int |
exactflag, |
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int |
moreflag = 1 | |
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Start a spline movement
- Parameters:
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| exactflag | Set it to 1 if you want the position controller activated after the movement, 0 otherwise, add 2 to set motor6_follow (no gripper) |
| moreflag | 0 = start moving more following, 1 = last or a single polynomial movement, 2 = do not start moving yet more following |
Definition at line 223 of file kmlBase.cpp.
void CKatBase::unBlock |
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unblock robot after a crash
Definition at line 217 of file kmlBase.cpp.
void CKatBase::waitFor |
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TMotStsFlg |
status, |
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int |
waitTimeout, |
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bool |
gripper | |
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wait for motor on all motors
Definition at line 118 of file kmlBase.cpp.
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 files: