18 Katana(System::String ^ipAddress, System::String ^configurationFile);
25 void moveMotorToEnc(
int motor,
int encoder,
bool waitUntilReached,
int waitTimeout);
27 void moveRobotTo(array<double> ^coordinates,
bool waitUntilReached,
int waitTimeout);
28 void moveRobotLinearTo(array<double> ^coordinates,
bool waitUntilReached,
int waitTimeout);
49 void openGripper(
bool waitUntilReached,
int waitTimeout);
50 void closeGripper(
bool waitUntilReached,
int waitTimeout);
void switchMotorOff(int number)
void moveRobotToEnc(array< int >^encoders, bool waitUntilReached, int waitTimeout)
void setMotorVelocityLimit(int number, int velocity)
Implement the Serial-Zero protocol.
void freezeMotor(int number)
void openGripper(bool waitUntilReached, int waitTimeout)
void setActivatePositionController(bool activate)
array< double > getCoordinates(bool refreshEncoders)
void switchMotorOn(int number)
void disableCollisionLimits()
void moveMotorToEnc(int motor, int encoder, bool waitUntilReached, int waitTimeout)
void setCollisionLimit(int number, int limit)
Encapsulates the socket communication device.
Katana(System::String^ipAddress, System::String^configurationFile)
void moveRobotLinearTo(array< double >^coordinates, bool waitUntilReached, int waitTimeout)
void enableCollisionLimits()
array< int > getRobotEncoders(bool refreshEncoders)
int getMotorAccelerationLimit(int number)
void setMaximumLinearVelocity(double maximumVelocity)
int getMotorEncoders(int number, bool refreshEncoders)
void closeGripper(bool waitUntilReached, int waitTimeout)
Encapsulates the serial port device.
bool getActivatePositionController()
void setMotorAccelerationLimit(int number, int acceleration)
void moveRobotTo(array< double >^coordinates, bool waitUntilReached, int waitTimeout)
double getMaximumLinearVelocity()
std::vector< int > encoders
int getMotorVelocityLimit(int number)