Extended Katana class with additional functions. More...

#include <kmlExt.h>

Inheritance diagram for CKatana:

Public Member Functions
void	calibrate ()
void	calibrate (long idx, TMotCLB clb, TMotSCP scp, TMotDYL dyl)
bool	checkENLD (long idx, double degrees)
	Check if the absolute position in degrees is out of range.
	CKatana ()
	Constructor.
void	closeGripper (bool waitUntilReached=false, int waitTimeout=100)
void	create (const char configurationFile, CCplBase protocol)
	Create routine.
void	create (KNI::kmlFactory infos, CCplBase protocol)
void	create (TKatGNL &gnl, TKatMOT &mot, TKatSCT &sct, TKatEFF &eff, CCplBase *protocol)
	Create routine.
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	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.
void	disableCrashLimits ()
	crash limits disable
void	enableCrashLimits ()
	crash limits enable
void	flushMoveBuffers ()
	flush move buffers
void	freezeMotor (short number)
void	freezeRobot ()
CKatBase *	GetBase ()
	Returns pointer to 'CKatBase*'.
int	getCurrentControllerType (int axis)
	Get the axis controller type.
short	getForce (int axis)
	Get the current force.
void	getGripperParameters (bool &isPresent, int &openEncoders, int &closeEncoders)
	Get the gripper parameters.
short	getMotorAccelerationLimit (short number) const
int	getMotorEncoders (short number, bool refreshEncoders=true) const
short	getMotorVelocityLimit (short number) const
short	getNumberOfMotors () const
std::vector< int >::iterator	getRobotEncoders (std::vector< int >::iterator start, std::vector< int >::const_iterator end, bool refreshEncoders=true) const
std::vector< int >	getRobotEncoders (bool refreshEncoders=true) const
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.
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	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	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.
void	moveMotorBy (short number, double radianAngle, bool waitUntilReached=false, int waitTimeout=0)
void	moveMotorByEnc (short number, int encoders, bool waitUntilReached=false, int waitTimeout=0)
void	moveMotorTo (short number, double radianAngle, bool waitUntilReached=false, int waitTimeout=0)
void	moveMotorToEnc (short number, int encoders, bool waitUntilReached=false, int encTolerance=100, int waitTimeout=0)
void	moveRobotToEnc (std::vector< int >::const_iterator start, std::vector< int >::const_iterator end, bool waitUntilReached=false, int encTolerance=100, int waitTimeout=0)
void	moveRobotToEnc (std::vector< int > encoders, bool waitUntilReached=false, int encTolerance=100, int waitTimeout=0)
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 tolerance.
void	openGripper (bool waitUntilReached=false, int waitTimeout=100)
int	readDigitalIO ()
	Read The Digital I/Os.
void	searchMechStop (long idx, TSearchDir dir, TMotSCP scp, TMotDYL dyl)
void	sendSplineToMotor (short number, short targetPosition, short duration, short p1, short p2, short p3, short p4)
void	setAndStartPolyMovement (std::vector< short > polynomial, bool exactflag, int moreflag)
void	setCrashLimit (long idx, int limit)
	unblock robot after a crash
void	setForceLimit (int axis, int limit)
	Set the force limit for the current controller.
void	setGripperParameters (bool isPresent, int openEncoders, int closeEncoders)
void	setMotorAccelerationLimit (short number, short acceleration)
void	setMotorVelocityLimit (short number, short velocity)
void	setPositionCollisionLimit (long idx, int limit)
	set collision position limits
void	setRobotAccelerationLimit (short acceleration)
void	setRobotVelocityLimit (short velocity)
void	setSpeedCollisionLimit (long idx, int limit)
	set collision speed limits
void	startSplineMovement (bool exactflag, int moreflag=1)
void	switchMotorOff (short number)
void	switchMotorOn (short number)
void	switchRobotOff ()
void	switchRobotOn ()
void	unBlock ()
	unblock robot after a crash
void	waitFor (TMotStsFlg status, int waitTimeout)
void	waitForMotor (short number, int encoders, int encTolerance=100, short mode=0, int waitTimeout=5000)
	~CKatana ()
	Destructor.
Protected Member Functions
void	setTolerance (long idx, int enc_tolerance)
	Sets the tolerance range in encoder units for the robots movements.
Protected Attributes
int	_gripperCloseEncoders
bool	_gripperIsPresent
int	_gripperOpenEncoders
CKatBase *	base
	base katana
int	mKatanaType
	The type of KatanaXXX (300 or 400)
int	mKinematics
	The kinematics implementation: 0 for Analytical, 1 for RobAnaGuess.

Detailed Description

Extended Katana class with additional functions.

This class uses the 'CKatBase* base' object to refer to a Katana robot.

Definition at line 64 of file kmlExt.h.

Constructor & Destructor Documentation

CKatana::CKatana ( ) [inline]

Constructor.

Definition at line 88 of file kmlExt.h.

CKatana::~CKatana ( ) [inline]

Destructor.

Definition at line 91 of file kmlExt.h.

Member Function Documentation

void CKatana::calibrate ( )

Definition at line 115 of file kmlExt.cpp.

void CKatana::calibrate	(	long	idx,
		TMotCLB	clb,
		TMotSCP	scp,
		TMotDYL	dyl
	)

Parameters:

idx	motor index
clb	calibration struct for one motor
scp	static controller parameters
dyl	dynamic controller parameters

Definition at line 181 of file kmlExt.cpp.

bool CKatana::checkENLD	(	long	idx,
		double	degrees
	)

Check if the absolute position in degrees is out of range.

Definition at line 276 of file kmlExt.cpp.

void CKatana::closeGripper	(	bool	waitUntilReached = `false`,
		int	waitTimeout = `100`
	)

Definition at line 558 of file kmlExt.cpp.

void CKatana::create	(	const char *	configurationFile,
		CCplBase *	protocol
	)

Create routine.

Definition at line 65 of file kmlExt.cpp.

void CKatana::create	(	KNI::kmlFactory *	infos,
		CCplBase *	protocol
	)

Definition at line 73 of file kmlExt.cpp.

void CKatana::create	(	TKatGNL &	gnl,
		TKatMOT &	mot,
		TKatSCT &	sct,
		TKatEFF &	eff,
		CCplBase *	protocol
	)

Create routine.

Parameters:

gnl	katana initial attributes
mot	motor initial attributes
sct	sensor controller initial attributes
eff	end effector initial attributes
protocol	protocol to be used

Definition at line 110 of file kmlExt.cpp.

void CKatana::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.

Definition at line 42 of file kmlExt.cpp.

void CKatana::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.

Definition at line 56 of file kmlExt.cpp.

void CKatana::disableCrashLimits ( )

crash limits disable

Definition at line 286 of file kmlExt.cpp.

void CKatana::enableCrashLimits ( )

crash limits enable

Definition at line 281 of file kmlExt.cpp.

void CKatana::flushMoveBuffers ( )

flush move buffers

Definition at line 296 of file kmlExt.cpp.

void CKatana::freezeMotor ( short number )

Definition at line 571 of file kmlExt.cpp.

void CKatana::freezeRobot ( )

Definition at line 566 of file kmlExt.cpp.

CKatBase* CKatana::GetBase ( ) [inline]

Returns pointer to 'CKatBase*'.

Definition at line 83 of file kmlExt.h.

int CKatana::getCurrentControllerType ( int axis )

Get the axis controller type.

Returns:: 0 for position controller, 1 for current controller

Definition at line 351 of file kmlExt.cpp.

short CKatana::getForce ( int axis )

Get the current force.

Definition at line 344 of file kmlExt.cpp.

void CKatana::getGripperParameters	(	bool &	isPresent,
		int &	openEncoders,
		int &	closeEncoders
	)

Get the gripper parameters.

Definition at line 611 of file kmlExt.cpp.

short CKatana::getMotorAccelerationLimit ( short number ) const

Definition at line 394 of file kmlExt.cpp.

int CKatana::getMotorEncoders	(	short	number,
		bool	refreshEncoders = `true`
	)		const

Definition at line 362 of file kmlExt.cpp.

short CKatana::getMotorVelocityLimit ( short number ) const

Definition at line 390 of file kmlExt.cpp.

short CKatana::getNumberOfMotors ( ) const

Definition at line 357 of file kmlExt.cpp.

std::vector< int >::iterator CKatana::getRobotEncoders	(	std::vector< int >::iterator	start,
		std::vector< int >::const_iterator	end,
		bool	refreshEncoders = `true`
	)		const

Write the cached encoders into the container. Set refreshEncoders=true if the KNI should fetch them from the robot. If m=distance(start, end) is smaller than the number of motors, only the first m motors will be written to the container, the function will not throw an exception because of this. The return value will point to one element after the last one.

Definition at line 369 of file kmlExt.cpp.

std::vector< int > CKatana::getRobotEncoders ( bool refreshEncoders = true ) const

Get the current robot encoders as a vector-container. This method is mainly provided for convenience. It is easier than the other getRobotEncoders method but probably not so efficient. It is much easier to use via the wrappers.

Definition at line 383 of file kmlExt.cpp.

void CKatana::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.

Definition at line 38 of file kmlExt.cpp.

void CKatana::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.

Definition at line 52 of file kmlExt.cpp.

void CKatana::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.

Definition at line 46 of file kmlExt.cpp.

void CKatana::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.

Definition at line 60 of file kmlExt.cpp.

void CKatana::moveMotorBy	(	short	number,
		double	radianAngle,
		bool	waitUntilReached = `false`,
		int	waitTimeout = `0`
	)

Definition at line 432 of file kmlExt.cpp.

void CKatana::moveMotorByEnc	(	short	number,
		int	encoders,
		bool	waitUntilReached = `false`,
		int	waitTimeout = `0`
	)

Definition at line 423 of file kmlExt.cpp.

void CKatana::moveMotorTo	(	short	number,
		double	radianAngle,
		bool	waitUntilReached = `false`,
		int	waitTimeout = `0`
	)

Definition at line 443 of file kmlExt.cpp.

void CKatana::moveMotorToEnc	(	short	number,
		int	encoders,
		bool	waitUntilReached = `false`,
		int	encTolerance = `100`,
		int	waitTimeout = `0`
	)

Definition at line 438 of file kmlExt.cpp.

void CKatana::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. You can provide less values than the number of motors. In that case only the given ones will be moved. This can be usefull in cases where you want to move the robot but you don't want to move the gripper.

Definition at line 463 of file kmlExt.cpp.

void CKatana::moveRobotToEnc	(	std::vector< int >	encoders,
		bool	waitUntilReached = `false`,
		int	encTolerance = `100`,
		int	waitTimeout = `0`
	)

Move to robot to given encoders in the vector-container. This method is mainly provided for convenience. Catch by value (and not by reference) is intended to avoid nasty wrapping code.

Definition at line 509 of file kmlExt.cpp.

void CKatana::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 tolerance.

Definition at line 514 of file kmlExt.cpp.

void CKatana::openGripper	(	bool	waitUntilReached = `false`,
		int	waitTimeout = `100`
	)

Definition at line 551 of file kmlExt.cpp.

int CKatana::readDigitalIO ( )

Read The Digital I/Os.

Definition at line 647 of file kmlExt.cpp.

void CKatana::searchMechStop	(	long	idx,
		TSearchDir	dir,
		TMotSCP	scp,
		TMotDYL	dyl
	)

Parameters:

idx	motor index
dir	search direction
scp	static controller parameters
dyl	dynamic controller parameters

Definition at line 195 of file kmlExt.cpp.

void CKatana::sendSplineToMotor	(	short	number,
		short	targetPosition,
		short	duration,
		short	p1,
		short	p2,
		short	p3,
		short	p4
	)

Send one spline to the motor

Parameters:

duration Duration has to be given in 10ms units

Definition at line 631 of file kmlExt.cpp.

void CKatana::setAndStartPolyMovement	(	std::vector< short >	polynomial,
		bool	exactflag,
		int	moreflag
	)

Send polynomials to all motors and start movement

Parameters:

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 636 of file kmlExt.cpp.

void CKatana::setCrashLimit	(	long	idx,
		int	limit
	)

unblock robot after a crash

Definition at line 301 of file kmlExt.cpp.

void CKatana::setForceLimit	(	int	axis,
		int	limit
	)

Set the force limit for the current controller.

Parameters:

axis	axis number 1-6. If 0, send limit to all axes

Definition at line 314 of file kmlExt.cpp.

void CKatana::setGripperParameters	(	bool	isPresent,
		int	openEncoders,
		int	closeEncoders
	)

Tell the robot about the presence of a gripper.

Parameters:

openEncoders	Which encoders should be used as target positions for opening the gripper
closeEncoders	Dito for closing the gripper

Definition at line 604 of file kmlExt.cpp.

void CKatana::setMotorAccelerationLimit	(	short	number,
		short	acceleration
	)

Definition at line 411 of file kmlExt.cpp.

void CKatana::setMotorVelocityLimit	(	short	number,
		short	velocity
	)

Definition at line 399 of file kmlExt.cpp.

void CKatana::setPositionCollisionLimit	(	long	idx,
		int	limit
	)

set collision position limits

Definition at line 306 of file kmlExt.cpp.

void CKatana::setRobotAccelerationLimit ( short acceleration )

Set the velocity of all motors together. This does not set the velocity of the TCP.

Definition at line 416 of file kmlExt.cpp.

void CKatana::setRobotVelocityLimit ( short velocity )

Definition at line 404 of file kmlExt.cpp.

void CKatana::setSpeedCollisionLimit	(	long	idx,
		int	limit
	)

set collision speed limits

Definition at line 310 of file kmlExt.cpp.

void CKatana::setTolerance	(	long	idx,
		int	enc_tolerance
	)		`[protected]`

Sets the tolerance range in encoder units for the robots movements.

Definition at line 271 of file kmlExt.cpp.

void CKatana::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

Definition at line 618 of file kmlExt.cpp.

void CKatana::switchMotorOff ( short number )

Definition at line 596 of file kmlExt.cpp.

void CKatana::switchMotorOn ( short number )

Definition at line 589 of file kmlExt.cpp.

void CKatana::switchRobotOff ( )

Definition at line 584 of file kmlExt.cpp.

void CKatana::switchRobotOn ( )

Definition at line 578 of file kmlExt.cpp.

void CKatana::unBlock ( )

unblock robot after a crash

Definition at line 291 of file kmlExt.cpp.