#include <KNI.net.h>
Public Member Functions | |
void | calibrate (void) |
void | closeGripper (bool waitUntilReached, int waitTimeout) |
void | disableCollisionLimits () |
void | enableCollisionLimits () |
void | freezeMotor (int number) |
void | freezeRobot () |
bool | getActivatePositionController () |
array< double > | getCoordinates (bool refreshEncoders) |
double | getMaximumLinearVelocity () |
int | getMotorAccelerationLimit (int number) |
int | getMotorEncoders (int number, bool refreshEncoders) |
int | getMotorVelocityLimit (int number) |
int | getNumberOfMotors () |
array< int > | getRobotEncoders (bool refreshEncoders) |
Katana (System::String^ipAddress, System::String^configurationFile) | |
void | moveMotorToEnc (int motor, int encoder, bool waitUntilReached, int waitTimeout) |
void | moveRobotLinearTo (array< double >^coordinates, bool waitUntilReached, int waitTimeout) |
void | moveRobotTo (array< double >^coordinates, bool waitUntilReached, int waitTimeout) |
void | moveRobotToEnc (array< int >^encoders, bool waitUntilReached, int waitTimeout) |
void | openGripper (bool waitUntilReached, int waitTimeout) |
void | setActivatePositionController (bool activate) |
void | setCollisionLimit (int number, int limit) |
void | setMaximumLinearVelocity (double maximumVelocity) |
void | setMotorAccelerationLimit (int number, int acceleration) |
void | setMotorVelocityLimit (int number, int velocity) |
void | switchMotorOff (int number) |
void | switchMotorOn (int number) |
void | switchRobotOff () |
void | switchRobotOn () |
void | unBlock () |
~Katana () | |
Private Attributes | |
CCdlCOM * | comm |
CLMBase * | katana |
CCplSerialCRC * | proto |
CCdlSocket * | socket |
KNInet::Katana::Katana | ( | System::String^ | ipAddress, |
System::String^ | configurationFile | ||
) |
Definition at line 33 of file KNI.net.cpp.
Definition at line 26 of file KNI.net.cpp.
void KNInet::Katana::calibrate | ( | void | ) |
Definition at line 71 of file KNI.net.cpp.
void KNInet::Katana::closeGripper | ( | bool | waitUntilReached, |
int | waitTimeout | ||
) |
Definition at line 242 of file KNI.net.cpp.
Definition at line 183 of file KNI.net.cpp.
Definition at line 175 of file KNI.net.cpp.
void KNInet::Katana::freezeMotor | ( | int | number | ) |
Definition at line 258 of file KNI.net.cpp.
void KNInet::Katana::freezeRobot | ( | ) |
Definition at line 250 of file KNI.net.cpp.
Definition at line 171 of file KNI.net.cpp.
array< double > KNInet::Katana::getCoordinates | ( | bool | refreshEncoders | ) |
Definition at line 113 of file KNI.net.cpp.
double KNInet::Katana::getMaximumLinearVelocity | ( | ) |
Definition at line 163 of file KNI.net.cpp.
int KNInet::Katana::getMotorAccelerationLimit | ( | int | number | ) |
Definition at line 222 of file KNI.net.cpp.
int KNInet::Katana::getMotorEncoders | ( | int | number, |
bool | refreshEncoders | ||
) |
Definition at line 210 of file KNI.net.cpp.
int KNInet::Katana::getMotorVelocityLimit | ( | int | number | ) |
Definition at line 218 of file KNI.net.cpp.
Definition at line 206 of file KNI.net.cpp.
array< int > KNInet::Katana::getRobotEncoders | ( | bool | refreshEncoders | ) |
Definition at line 79 of file KNI.net.cpp.
void KNInet::Katana::moveMotorToEnc | ( | int | motor, |
int | encoder, | ||
bool | waitUntilReached, | ||
int | waitTimeout | ||
) |
Definition at line 105 of file KNI.net.cpp.
void KNInet::Katana::moveRobotLinearTo | ( | array< double >^ | coordinates, |
bool | waitUntilReached, | ||
int | waitTimeout | ||
) |
Definition at line 147 of file KNI.net.cpp.
void KNInet::Katana::moveRobotTo | ( | array< double >^ | coordinates, |
bool | waitUntilReached, | ||
int | waitTimeout | ||
) |
Definition at line 135 of file KNI.net.cpp.
void KNInet::Katana::moveRobotToEnc | ( | array< int >^ | encoders, |
bool | waitUntilReached, | ||
int | waitTimeout | ||
) |
Definition at line 93 of file KNI.net.cpp.
void KNInet::Katana::openGripper | ( | bool | waitUntilReached, |
int | waitTimeout | ||
) |
Definition at line 234 of file KNI.net.cpp.
void KNInet::Katana::setActivatePositionController | ( | bool | activate | ) |
Definition at line 167 of file KNI.net.cpp.
void KNInet::Katana::setCollisionLimit | ( | int | number, |
int | limit | ||
) |
Definition at line 198 of file KNI.net.cpp.
void KNInet::Katana::setMaximumLinearVelocity | ( | double | maximumVelocity | ) |
Definition at line 159 of file KNI.net.cpp.
void KNInet::Katana::setMotorAccelerationLimit | ( | int | number, |
int | acceleration | ||
) |
Definition at line 230 of file KNI.net.cpp.
void KNInet::Katana::setMotorVelocityLimit | ( | int | number, |
int | velocity | ||
) |
Definition at line 226 of file KNI.net.cpp.
void KNInet::Katana::switchMotorOff | ( | int | number | ) |
Definition at line 290 of file KNI.net.cpp.
void KNInet::Katana::switchMotorOn | ( | int | number | ) |
Definition at line 282 of file KNI.net.cpp.
void KNInet::Katana::switchRobotOff | ( | ) |
Definition at line 274 of file KNI.net.cpp.
void KNInet::Katana::switchRobotOn | ( | ) |
Definition at line 266 of file KNI.net.cpp.
void KNInet::Katana::unBlock | ( | ) |
Definition at line 191 of file KNI.net.cpp.
CCdlCOM* KNInet::Katana::comm [private] |
CLMBase* KNInet::Katana::katana [private] |
CCplSerialCRC* KNInet::Katana::proto [private] |
CCdlSocket* KNInet::Katana::socket [private] |